diff options
Diffstat (limited to 'Arduino')
| -rwxr-xr-x | Arduino/bin/README_Load.txt | 38 | ||||
| -rwxr-xr-x | Arduino/bin/build.sh | 36 | ||||
| -rwxr-xr-x | Arduino/bin/load.sh | 18 | ||||
| -rwxr-xr-x | Arduino/ems-light/Clock.cpp | 217 | ||||
| -rwxr-xr-x | Arduino/ems-light/Clock.h | 133 | ||||
| -rwxr-xr-x | Arduino/ems-light/Configuration.h | 65 | ||||
| -rwxr-xr-x | Arduino/ems-light/Machine.cpp | 148 | ||||
| -rwxr-xr-x | Arduino/ems-light/Machine.h | 72 | ||||
| -rwxr-xr-x | Arduino/ems-light/Monitor.cpp | 312 | ||||
| -rwxr-xr-x | Arduino/ems-light/Monitor.h | 226 | ||||
| -rwxr-xr-x | Arduino/ems-light/SafetyThird.cpp | 47 | ||||
| -rwxr-xr-x | Arduino/ems-light/SafetyThird.h | 198 | ||||
| -rwxr-xr-x | Arduino/ems-light/TaskScheduler.h | 824 | ||||
| -rwxr-xr-x | Arduino/ems-light/ems-light.ino | 3 | ||||
| -rwxr-xr-x | Arduino/ems-light/keywords.h | 122 |
15 files changed, 0 insertions, 2459 deletions
diff --git a/Arduino/bin/README_Load.txt b/Arduino/bin/README_Load.txt deleted file mode 100755 index b465e2b..0000000 --- a/Arduino/bin/README_Load.txt +++ /dev/null @@ -1,38 +0,0 @@ -Instructions for loading compiled binary images - from a raspberry pi to a feather M0. - -First, update your pi -sudo apt-get update && apt-get upgrade -sudo apt-get install build-essential -sudo apt-get install libreadline-dev wx2.8-headers libwxgtk2.8-0 libwxgtk2.8-dev - -next visit the page https://github.com/shumatech/BOSSA. - clone this repo and note the folder name. - -next follow the instructions on the page to make the bossac and bossash files - -next create a script some thing like what is below: - ------------------------------------------------------ -# load.sh - flash your arduino using a locally installed bosac - -# Project Variables -INO_NAME=ems -PROJECT_PATH=/home/pi/ems/Arduino - -# Local System variables -PORT=ttyACM0 -PACKAGES_PATH=/home/pi/BOSSA/bin -BUILD_PATH=$PROJECT_PATH/build - -# Arduino compile tools are here: -BOSSAC_PATH=$PACKAGES_PATH - -# load to the feather if possible -$BOSSAC_PATH/bossac -i -d --port=$PORT -U true -i -e -w -v $BUILD_PATH/$INO_NAME.ino.bin -R -------------------------------------------------------- - -Note that if you do not know the port of the device, you can remove the --port=PORT and bossac will attempt to find the port. - - - diff --git a/Arduino/bin/build.sh b/Arduino/bin/build.sh deleted file mode 100755 index fecf63a..0000000 --- a/Arduino/bin/build.sh +++ /dev/null @@ -1,36 +0,0 @@ -# build.sh - build the ems arduino code and flash it - -# Project Variables -INO_NAME=ems -PROJECT_PATH=/home/pi/ems/Arduino - -# Local System variables -PORT=ttyACM0 -ARDUINO_PATH=/home/pi/arduino-1.6.12 -PACKAGES_PATH=/home/pi/.arduino15/packages - -# Arduino compile tools are here: -TOOL_PATH=$PACKAGES_PATH/arduino/tools -HARDWARE_PATH=$PACKAGES_PATH/arduino/hardware -TOOLS="-tools $ARDUINO_PATH/tools-builder -tools $ARDUINO_PATH/hardware/tools/avr -tools $PACKAGES_PATH" -HARDWARE="-hardware $HARDWARE_PATH -hardware $PACKAGES_PATH" -BUILD_PATH=$PROJECT_PATH/build -CMSIS_PATH=$PACKAGES_PATH/arduino/tools/CMSIS/4.0.0-atmel -GCC_PATH=$PACKAGES_PATH/arduino/tools/arm-none-eabi-gcc/4.8.3-2014q1 -BOSSAC_PATH=$PACKAGES_PATH/arduino/tools/bossac/1.7.0 -OPENOCD_PATH=$PACKAGES_PATH/arduino/tools/openocd/0.9.0-arduino -SOURCE_PATH=$PROJECT_PATH/ - -ARDUINO=/home/pi/arduino-1.6.12/arduino-builder -TOOLS_BUILDER=/home/pi/arduino-1.6.12/tools-builder - -# make sure our build folder exists -mkdir -p $BUILD_PATH - -# compile and install -$ARDUINO -dump-prefs -logger=machine $HARDWARE $TOOLS -built-in-libraries $ARDUINO_PATH/libraries -libraries $PROJECT_PATH/libraries -fqbn=adafruit:samd:adafruit_feather_m0 -vid-pid=0X239A_0X800B -ide-version=10612 -build-path $BUILD_PATH -warnings=all -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.CMSIS.path=$CMSIS_PATH -prefs=runtime.tools.arm-none-eabi-gcc.path=$GCC_PATH -prefs=runtime.tools.bossac.path=$BOSSAC_PATH -prefs=runtime.tools.openocd.path=$OPENOCD_PATH -verbose $PROJECT_PATH/$INO_NAME/$INO_NAME.ino -$ARDUINO -compile -logger=machine $HARDWARE $TOOLS -built-in-libraries $ARDUINO_PATH/libraries -libraries $PROJECT_PATH/libraries -fqbn=adafruit:samd:adafruit_feather_m0 -vid-pid=0X239A_0X800B -ide-version=10612 -build-path $BUILD_PATH -warnings=all -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.CMSIS.path=$CMSIS_PATH -prefs=runtime.tools.arm-none-eabi-gcc.path=$GCC_PATH -prefs=runtime.tools.bossac.path=$BOSSAC_PATH -prefs=runtime.tools.openocd.path=$OPENOCD_PATH -verbose $PROJECT_PATH/$INO_NAME/$INO_NAME.ino - -# load to the feather if possible -$BOSSAC_PATH/bossac -i -d --port=$PORT -U true -i -e -w -v $BUILD_PATH/$INO_NAME.ino.bin -R - diff --git a/Arduino/bin/load.sh b/Arduino/bin/load.sh deleted file mode 100755 index 0446f55..0000000 --- a/Arduino/bin/load.sh +++ /dev/null @@ -1,18 +0,0 @@ -# load.sh - flash your arduino using a locally installed bosac - -# Project Variables -INO_NAME=ems -PROJECT_PATH=/home/pi/ems/Arduino - -# Local System variables -PORT=ttyACM0 -PACKAGES_PATH=/home/pi/BOSSA/bin -BUILD_PATH=$PROJECT_PATH/build - -# Arduino compile tools are here: -BOSSAC_PATH=$PACKAGES_PATH - -# load to the feather if possible -#$BOSSAC_PATH/bossac -i -d -U true -i -e -w -v $BUILD_PATH/$INO_NAME.ino.bin -R -$BOSSAC_PATH/bossac -i -d --port=$PORT -U true -i -e -w -v $BUILD_PATH/$INO_NAME.ino.bin -R - diff --git a/Arduino/ems-light/Clock.cpp b/Arduino/ems-light/Clock.cpp deleted file mode 100755 index 4f6431d..0000000 --- a/Arduino/ems-light/Clock.cpp +++ /dev/null @@ -1,217 +0,0 @@ -/*-------------------------------------------------------------------Clock.cpp - * Authors: Joseph Wayne Dumoulin, Donald Delmar Davis, Suspect Devices - * - * Liscence: "Simplified BSD License" - * - * Copyright (c) 2016, Donald Delmar Davis, Suspect Devices - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in thedocumentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *----------------------------------------------------------------------------- - * The clock module is about time. - * This includes - * An RTC backed (if avaliable) time module for timestamps - * A shcedular for most tasks. - */ - -#include "Monitor.h" -#include "Clock.h" - - -/* - * notes on sync weirdness. - * - * This class grew out of a system which used external RTC that had to share - * a buss with all sorts of sensors. - * - * Rather than hog the buss a running seconds count was maintained (unixtime) - * and the time variables were updated and the rtc referenced once a minute. - * - * With an internal rtc this gets a little krufty. - * - * On the other hand a less than perfect clock can be implimented on systems - * w/o access to RTCs by counting seconds using whatever millis is using. - * - * this is not currently implimented but we will leave the cruft so it can be. - * - */ - -/* Create an rtc object mebby should be private to the class JOE?? */ - -// add preprocessor code here for non M0 systems. -#ifdef ARDUINO_SAMD_ZERO -RTCZero rtc; -#endif -/* calculate build date and time (this should be referenceable from monitor for SWV ... */ -const byte build_seconds = ((__TIME__[6] - '0') * 10 + __TIME__[7] - '0'); -const byte build_minutes = ((__TIME__[3] - '0') * 10 + __TIME__[4] - '0'); -const byte build_hours = ((__TIME__[0] - '0') * 10 + __TIME__[1] - '0'); - - -const byte build_day = ((__DATE__[4] >= '0') ? (__DATE__[4] - '0') * 10 : 0) + \ - (__DATE__[5] - '0') ; -const byte build_month = ( \ - (__DATE__[0] == 'J' && __DATE__[1] == 'a' && __DATE__[2] == 'n') ? 1 : \ - (__DATE__[0] == 'F') ? 2 : \ - (__DATE__[0] == 'M' && __DATE__[1] == 'a' && __DATE__[2] == 'r') ? 3 : \ - (__DATE__[0] == 'A' && __DATE__[1] == 'p') ? 4 : \ - (__DATE__[0] == 'M' && __DATE__[1] == 'a' && __DATE__[2] == 'y') ? 5 : \ - (__DATE__[0] == 'J' && __DATE__[1] == 'u' && __DATE__[2] == 'n') ? 6 : \ - (__DATE__[0] == 'J' && __DATE__[1] == 'u' && __DATE__[2] == 'l') ? 7 : \ - (__DATE__[0] == 'A' && __DATE__[1] == 'u') ? 8 : \ - (__DATE__[0] == 'S') ? 9 : \ - (__DATE__[0] == 'O') ? 10 : \ - (__DATE__[0] == 'N') ? 11 : \ - (__DATE__[0] == 'D') ? 12 : \ - /* error default */ 99 \ - ); -const byte build_year = ( \ - (__DATE__[ 9] - '0') * 10 + \ - (__DATE__[10] - '0') \ - ); - - -Clock clock; - - -void Clock::init() - -{ - - rtc.begin(); // initialize RTC - - // if the rtc is set in the early 00s Set the and date to build time initially - // otherwise assume that the battery was keeping it running appropriately. - if (!rtc.getYear()){ - rtc.setTime(build_hours,build_minutes,build_seconds); - rtc.setDate(build_day, build_month, build_year); - } - - monitor.debug("Clock module initialized"); - monitor.registerAction(_TIM_, &TIM); - monitor.registerAction(_NOW_, &NOW); -} - -// bracket with pre-processor defs .... -bool Clock::RTCIsRunning(void) { - return (RTC->MODE2.CTRL.reg & RTC_MODE2_CTRL_ENABLE); -} - -const uint8_t daysInMonth [] { 31,28,31,30,31,30,31,31,30,31,30,31 }; - -// number of days since 2000/01/01, valid for 2001..2099 -static uint16_t date2days(uint16_t yy, uint8_t mm, uint8_t dd) { - if (yy >= 2000) - yy -= 2000; - uint16_t days = dd; - for (uint8_t i = 1; i < mm; ++i) - days += pgm_read_byte(daysInMonth + i - 1); - if (mm > 2 && yy % 4 == 0) - ++days; - return days + 365 * yy + (yy + 3) / 4 - 1; -} - -static long time2long(uint16_t days, uint8_t hh, uint8_t mm, uint8_t ss) { - return ((days * 24L + hh) * 60 + mm) * 60 + ss; -} - -static uint8_t conv2d(const char* p) { - uint8_t v = 0; - if ('0' <= *p && *p <= '9') - v = *p - '0'; - return 10 * v + *++p - '0'; -} - -void Clock::calcUnixTime(void) { - uint32_t t; - uint16_t days = date2days(yOff, m, d); - t = time2long(days, hh, mm, ss) + SECONDS_FROM_1970_TO_2000 ; - unixtime = t; -} - -static uint8_t bcd2bin (uint8_t val) { return val - 6 * (val >> 4); } -static uint8_t bin2bcd (uint8_t val) { return val + 6 * (val / 10); } - -void Clock::set(time_t t) { - rtc.setEpoch((uint32_t)t); -} - -void Clock::set(const char * dateString) { - //TIM:%02d/%02d/%04d %02d:%02d:%02d" - //TIM:mm/dd/yyyy hh:mm:ss - //0123456789012345678901234 - uint8_t seconds,minutes,hours,days,leap,month; - long int yearoff; - char dateStringBuffer[24]; - strncpy(dateStringBuffer,dateString,23); - dateStringBuffer[2]=dateStringBuffer[5]=dateStringBuffer[10] - =dateStringBuffer[13]=dateStringBuffer[16]=dateStringBuffer[19]='\0'; - seconds = atoi(dateStringBuffer+17); - minutes = atoi(dateStringBuffer+14); - hours = atoi(dateStringBuffer+11);; - days = atoi(dateStringBuffer+3); - month = atoi(dateStringBuffer); - yearoff = atoi(dateStringBuffer+6) - (2000); - monitor.debug("?:%02d/%02d/%04d %02d:%02d:%02d",month,days,yearoff+(2000),hours,minutes,seconds); - rtc.setTime(hours,minutes,seconds); - rtc.setDate(days, month, yearoff); -} - -uint8_t Clock::dayofweek() /* 0 = Sunday */ -{ int y=year(); - int m=month(); - int d=day(); - static int t[] = {0, 3, 2, 5, 0, 3, 5, 1, 4, 6, 2, 4}; - y -= m < 3; - return (uint8_t) ((y + y/4 - y/100 + y/400 + t[m-1] + d) % 7); -} - -// populate running values from RTC -void Clock::sync() { - ss = rtc.getSeconds(); - rtcisrunning = 1; //FIXME!!! - mm = rtc.getMinutes(); - hh = rtc.getHours(); - d = rtc.getDay(); - m = rtc.getMonth(); - yOff = rtc.getYear(); -#if DEBUG_SYNC - monitor.debug("RTC: SYNC mm=%d,ss=%d",mm,ss); -#endif - -} - -void Clock::run() { - -} - - -void timeStamp ( char *buffer ) { - sprintf(buffer,"%02d/%02d/%04d %02d:%02d:%02d", - clock.month(), clock.day(), clock.year(), - clock.hour(), clock.minute(), clock.second()); -} - - - - diff --git a/Arduino/ems-light/Clock.h b/Arduino/ems-light/Clock.h deleted file mode 100755 index 690d72a..0000000 --- a/Arduino/ems-light/Clock.h +++ /dev/null @@ -1,133 +0,0 @@ -/*---------------------------------------------------------------------Clock.h - * Authors: Joseph Wayne Dumoulin, Donald Delmar Davis, Suspect Devices - * - * Liscence: "Simplified BSD License" - * - * Copyright (c) 2016, Donald Delmar Davis, Suspect Devices - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in thedocumentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *----------------------------------------------------------------------------- - * - * - * - */ - -#ifndef Clock_h -#define Clock_h - -#include "Configuration.h" -#include "Monitor.h" -#include "TaskScheduler.h" - -#define SECONDS_PER_DAY 86400L -#define SECONDS_FROM_1970_TO_2000 946684800 -#define DEBUG_SYNC 0 -#define CHARS_IN_TIMESTAMP 20 - -// add preprocessor code here for non M0 systems. -#ifdef ARDUINO_SAMD_ZERO -#include <RTCZero.h> -extern RTCZero rtc; -#endif - -// forward -class Clock; -extern Clock clock; - -void timeStamp(char *); - -class Clock -{ -private: - - -public: - - - /*---------------------------------------------------------------------- - * Monitor Callbacks - *--------------------------------------------------------------------*/ - - static void TIM (uint8_t kwIndex, uint8_t verb,char *args) { - static char thetimestamp[CHARS_IN_TIMESTAMP]; - if (verb == '!') { - clock.set(args); - } - timeStamp(thetimestamp); - monitor.update("TIM","%s",thetimestamp); - } - - static void NOW (uint8_t kwIndex, uint8_t verb,char *args) { - static char intbuff[25]; - if (verb == '!') { - clock.set(atol(args)); - } - ultoa(clock.time(),intbuff,10); - monitor.update("NOW","%s",intbuff); - - } - - - Clock() {} ; - void init(); - bool RTCIsRunning();// const { return (rtcisrunning==1); }; - void set(time_t); - time_t get(); - void set(const char *); - -// need to generalize this at some point. -#if 0 - uint16_t year() const { return 2000 + yOff; } - uint8_t month() const { return m; } - uint8_t day() const { return d; } - uint8_t hour() const { return hh % 24; } - uint8_t minute() const { return mm % 60; } - uint8_t second() const { return ss % 60; } - time_t time() const {return unixtime;} -#else - uint16_t year() const { return 2000 + rtc.getYear(); } - uint8_t month() const { return rtc.getMonth(); } - uint8_t day() const { return rtc.getDay(); } - uint8_t hour() const { return rtc.getHours(); } - uint8_t minute() const { return rtc.getMinutes(); } - uint8_t second() const { return rtc.getSeconds(); } - time_t time() const {return rtc.getEpoch();} -#endif - uint8_t dayofweek(); - void tick(void); - void run(); // this is wrong. - //bool rolledOver(); //?? - //void addToCalendar(); - //void removeFromCalendar(); - void sync(); - void calcUnixTime(); - -protected: - uint8_t yOff, m, d, hh, mm, ss, rtcisrunning; - time_t unixtime; - -}; - - -#endif diff --git a/Arduino/ems-light/Configuration.h b/Arduino/ems-light/Configuration.h deleted file mode 100755 index 822846d..0000000 --- a/Arduino/ems-light/Configuration.h +++ /dev/null @@ -1,65 +0,0 @@ -/*------------------------------------------------------------------ - * Common defines for EMS hardware - */ - -#ifndef EMS_COMMON_h -#define EMS_COMMON_h - -#include <Arduino.h> - -#define GIT_VERSION "xxxxxxxxxxxxxxxxx" -#define MAX_PSN_LENGTH 33 -// -// reccommend major and minor rev plus build date. -// -#ifndef FIRMWAREREV -#define FIRMWAREREV "EMS1" -#endif - -#define SAFETY_LAMP_PIN 13 -// -// Define E_STOP_PIN to enable estop switch -// -//#define E_STOP_PIN x -#ifndef E_STOP_PULLED -#define E_STOP_PULLED 1 -#endif - -// -// Define LIGHT_CURTAIN pins to enable light curtain -// -//#define LIGHT_CURTAIN_OSDD_PIN 5 -//#define LIGHT_CURTAIN_START_PIN 6 -#define LIGHT_CURTAIN_START LOW -#define LIGHT_CURTAIN_STOP HIGH -#define LIGHT_CURTAIN_OK LOW -#define LIGHT_CURTAIN_NOT_CLEAR HIGH - -// -// Define K1_PIN if konactor is connected to machine -// -//#define K1_PIN x - -// -#define POST_TIMESTAMP_DELIMETER ',' - -// analog write resolution (new for m0s) -#define ANALOG_WRITE_RESOLUTION 8 - -// tzoffset from localtime (PDT) to GMT (7 hrs) in seconds -#define LOCAL_TZ_OFFSET ( 7L * 3600L ) - -// non volitile memory addresses go here...... -#define CLEAN_SHUTDOWN_EEPROM_ADDR ((uint8_t *)0) -#define CLEAN_SHUTDOWN_CODE 0xAA //unlikely to randomly be in there -#define LOG_LEVEL_EEPROM_ADDR ((uint8_t*) 2) -#define DEBUG_LEVEL_EEPROM_ADDR ((uint8_t*) 3) - - - -#define MONITOR_UART Serial -#define MONITOR_BAUD 9600 - -#define FAKE_A_FLOAT(_f) int((_f)), int(abs((_f) - int(_f))*100) - -#endif diff --git a/Arduino/ems-light/Machine.cpp b/Arduino/ems-light/Machine.cpp deleted file mode 100755 index 1f9e8a5..0000000 --- a/Arduino/ems-light/Machine.cpp +++ /dev/null @@ -1,148 +0,0 @@ -#include "Machine.h" -#include "Monitor.h" -#include "Clock.h" -#include "SafetyThird.h" - -const char statenames[][STATENAMELEN]={STATENAMES}; -Machine machine; - - - -void setup() { - machine.init(); -} - -// POST -void Machine::init(){ - monitor.init(); - inSafeStateToRun=false; - setState(STATE_SELF_TEST_INIT); - safety.init(); - if (state() == STATE_SELF_TEST_INIT) { - inSafeStateToRun=true; - setState(STATE_WARM_UP); - } - monitorTask.set(100L, TASK_FOREVER, &Monitor::run); - machine.todolist.addTask(monitorTask); - monitorTask.enable(); - machineTask.set(500L, TASK_FOREVER, &systemInCharge); - machine.todolist.addTask(machineTask); - machineTask.enable(); - monitor.registerAction(_TMR_, &TMR); - monitor.registerAction(_TMS_, &TMS); - monitor.registerAction(_TRM_, &TRM); - -} - -const char * Machine::stateName(int s) { return statenames[s]; }; -void loop() { - machine.todolist.execute(); -} - -void Machine::setState(int newState) { - previousState=currentState; - currentState=newState; - monitor.update("STC","%.04d %s ==> %s", - newState, - stateName(previousState), - stateName(newState)); -} -#define ENTERING (machine.previousState!=machine.currentState) -// this is the state machine. - -static void systemInCharge(){ - static time_t lastUpdate; - - switch (machine.state()){ - - case STATE_OFF: - case STATE_SELF_TEST_INIT:break; - - case STATE_WARM_UP: - if (ENTERING) { - safety.redLightVal=RED_FULL_ON;//fix number foo - } else { - machine.setState(STATE_RUN_MODE); - } - break; - case STATE_RUN_MODE: - if (ENTERING) { - lastUpdate=clock.time(); - } - time_t delta; - delta=lastUpdate=(clock.time()-lastUpdate); - if ((delta>0) - && (machine.timerIsRunning) - ){ - machine.timeRemaining -= (int) delta; - if (machine.timeRemaining<0) { - machine.timeRemaining=0; - } - monitor.update("TRM","%d",machine.timeRemaining); - } - if ((machine.timeRemaining==0) - && machine.timerIsRunning - ){ - //pump.Release(); - machine.timerIsRunning=false; - monitor.log("-- Job finished --"); - machine.timeRemaining=machine.timerSetting; - monitor.update("TRM","%d",machine.timeRemaining); - monitor.update("TMR","%d",machine.timerIsRunning); - } - break; - - - case STATE_SHUTDOWN: - case STATE_POST_FAILURE: - case STATE_E_SHUTDOWN: - if (ENTERING) { - safety.redLightVal=255;//fix number foo - } else { - machine.setState(STATE_RUN_MODE); - } - break; - case STATE_MANUAL_MODE: - case STATE_DIAGNOSTICS_MODE:break; - case STATE_UNKNOWN_STATE:break; - } - machine.previousState=machine.currentState; - lastUpdate=clock.time(); -} -/*---------------------------------------------------------------------- - * Monitor Callbacks - *--------------------------------------------------------------------*/ - -static void TMR (uint8_t kwIndex, uint8_t verb,char *args) { - if (verb == '!') { - bool wasRunning=machine.timerIsRunning; - bool start=machine.timerIsRunning=atoi(args); - if (start) { - // - monitor.log("-- Job (Re)Started --"); //if was notrunning? - } else { - if (wasRunning) { - monitor.log("-- Job Paused --"); - } - } - } - monitor.update("TMR","%d",machine.timerIsRunning); -} - -static void TMS (uint8_t kwIndex, uint8_t verb,char *args) { - - if (verb == '!') { - machine.timeRemaining=machine.timerSetting=atoi(args); - monitor.update("TRM","%d",machine.timeRemaining); - } - monitor.update("TMS","%d",machine.timerSetting); -} - -static void TRM (uint8_t kwIndex, uint8_t verb,char *args) { - - if (verb == '!') { - machine.timeRemaining=atoi(args); - monitor.update("TRM","%d",machine.timeRemaining); - } - monitor.update("TRM","%d",machine.timeRemaining); -} diff --git a/Arduino/ems-light/Machine.h b/Arduino/ems-light/Machine.h deleted file mode 100755 index db7c9fd..0000000 --- a/Arduino/ems-light/Machine.h +++ /dev/null @@ -1,72 +0,0 @@ -#ifndef Machine_h -#define Machine_h -#include "Configuration.h" -#include "Monitor.h" -#include "TaskScheduler.h" -// This stuff probably belongs in Machine.h - -#define STATENAMELEN 25 - -enum machine_states { - STATE_OFF, - STATE_SELF_TEST_INIT, - STATE_WARM_UP, - STATE_RUN_MODE, - STATE_SHUTDOWN, - STATE_POST_FAILURE, - STATE_E_SHUTDOWN, - STATE_MANUAL_MODE, - STATE_DIAGNOSTICS_MODE, - STATE_UNKNOWN_STATE, -}; - -#define NSTATES (STATE_UNKNOWN_STATE) - -#define STATENAMES \ -"OFF\000 ",\ -"SELF TEST INIT\000 ",\ -"WARMUP\000 ",\ -"NORMAL OPERATION\000 ",\ -"SHUT DOWN\000 ",\ -"POST FAILURE\000 ",\ -"EMERGENCY STOP\000 ",\ -"MANUAL MODE ",\ -"DIAGNOSTICS MODE\000 ",\ -"UNKNOWN\000 " - -class Machine; -extern Machine machine; - -static void STC (uint8_t kwIndex, uint8_t verb,char *args); -static void TMR (uint8_t kwIndex, uint8_t verb,char *args); -static void TMS (uint8_t kwIndex, uint8_t verb,char *args); -static void TRM (uint8_t kwIndex, uint8_t verb,char *args); -static void systemInCharge(); - -class Machine -{ -private: - Task monitorTask; - Task machineTask; - -public: - int previousState; - int currentState; - int timerSetting; - bool timerIsRunning; - int timeRemaining; - bool inSafeStateToRun; - - Machine() : currentState(STATE_OFF) {} - Scheduler todolist; - void init(); - void setPreviousState(int newState); // {currentState=newState;}; - void setState(int newState); // {currentState=newState;}; - int state() { return currentState; }; - const char * stateName(int) ; - -protected: - -}; - -#endif diff --git a/Arduino/ems-light/Monitor.cpp b/Arduino/ems-light/Monitor.cpp deleted file mode 100755 index fd77089..0000000 --- a/Arduino/ems-light/Monitor.cpp +++ /dev/null @@ -1,312 +0,0 @@ -/*---------------------------------------------------------------------Monitor.h - * Author: Joseph Wayne Dumoulin, Donald Delmar Davis, Suspect Devices - * - * Liscence: "Simplified BSD License" - * - * Copyright (c) 2016, Donald Delmar Davis, Suspect Devices - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in thedocumentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *----------------------------------------------------------------------------- - * The idea here is to create an automation freindly monitor protocol and debug - * interface. Because this needs to be efficient (and flexible) I have chosen a - * very simple interface which will access and may manipulate a devices public - * variables. - * - * Basic Syntax for the monitor is - * XXX[?!:] <variable stuff> <CR> - * where: - * XXX is a 3 letter command or variable. - * ! execute command or store value - * ? get value - * :<20 char timestamp>, value returned. - * - * keywords are described in keywords.h - */ - -#include <stdio.h> -#include <stdlib.h> -#include <stdarg.h> -#include "Monitor.h" -#include "Clock.h" - -/* - * +1 is for the trailing null. - */ -const char keywords[((NKEYWORDS)*3)+1] = KEYWORDS; -#define KWHELPLEN 26 - -char kwhelp[((NKEYWORDS+1) * KWHELPLEN)+1] = HELPTEXT; -char updateBuffer[MAX_RETURN_VALUE]; //allocate this once use it often. -actionptr actions[NKEYWORDS]; - - -void Monitor::update(const char *data, const char *format, ...) { - va_list blarg; - updateBuffer[0]=data[0];updateBuffer[1]=data[1];updateBuffer[2]=data[2];updateBuffer[3]=':'; - timeStamp(updateBuffer+4); - updateBuffer[23]=POST_TIMESTAMP_DELIMETER; - va_start(blarg, format); - vsnprintf(updateBuffer+24, MAX_RETURN_VALUE-24, format, blarg); - va_end(blarg); - if (!commandMode()) { - MONITOR_UART.println(updateBuffer); - MONITOR_UART.flush(); - } -}; - -Monitor monitor; - -void Monitor::fatal(int newstate, const char *format, ...) { - va_list blarg; - update("FTL", format, blarg); - va_end(blarg); - //update("FTL","Fatal Error, New State = %s", soh, stateName(soh)); //maybe move this to setstate. - //sendActionOut(); - //stateChange(soh); -}; - -void Monitor::debug(const char *format, ...) { - va_list blarg; -// if (_debugLevel >= SEV_DEBUG) - update("DBG:", format, blarg); - va_end(blarg); -}; - - - - -char * samd21m0psn(char * buffer) { - - // https://gist.github.com/mgk/c9ec87436d2d679e5d08 - volatile uint32_t val1, val2, val3, val4; - volatile uint32_t *ptr1 = (volatile uint32_t *)0x0080A00C; - val1 = *ptr1; - volatile uint32_t *ptr = (volatile uint32_t *)0x0080A040; - val2 = *ptr; - ptr++; - val3 = *ptr; - ptr++; - val4 = *ptr; - snprintf(buffer, MONITOR_SERIAL_NUMBER_CHARS ,"%8x%8x%8x%8x", val1, val2, val3, val4); - -} - -Monitor::Monitor() { - - _debugLevel=EEPROM_NOT_SET; - samd21m0psn(this->_psn); - /* - * insure that all jump table pointers go somewhere - */ - int k; - - for (k=0;k<NKEYWORDS;k++) { - if (actions[k]==NULL) { - actions[k]=&NOP; - } - } -} -void Monitor::init(){ - - - MONITOR_UART.begin(MONITOR_BAUD); - while (!MONITOR_UART) - delay(1); // wait for USB serial to initialize (BAD IDEA) -// console=&MONITOR_UART; - MONITOR_UART.flush(); - - - - if (debugLevel()==EEPROM_NOT_SET) { - setDebugLevel(SEV_WARN); // default level? - } - - monitor.setCommandMode(0); - - clock.init(); // needed to timestamp debug statement. - - registerAction(_SYN_, &ACK); - registerAction(_DVL_, &DVL); - registerAction(_GIT_, &GIT); - registerAction(_HLP_, &HLP); - registerAction(_CMD_, &CMD); // - registerAction(_SSN_, &SSN); - registerAction(_SWV_, &SWV); - registerAction(_HWV_, &HWV); - registerAction(_RST_, &RST); - registerAction(_BLD_, &BLD); - - //machine.todolist.addTask(__commands); - //__commands.enable(); -// monitor.update("monitor init"); - - monitor.debug("Monitor Init"); - -} - -int commandBufferIndex=0; -bool gotLine=false; -char commandBuffer[84]={}; // rename and use constants. - -void Monitor::registerAction(uint8_t ndx, actionptr action){ - if (ndx >=0 && ndx<NKEYWORDS) { - actions[ndx]=action; - } -} - -void Monitor::run() { - int index; - char key[3]; - char action; - char *arguments; - char ch; - int linlen; -// if( (monitor.console!=NULL) && monitor.console->available() ){ -// while( monitor.console->available() && commandBufferIndex < MAX_MONITOR_LINE_LENGTH && ((ch=monitor.console->read()) != '\n') && ch !='\r' ) { -// commandBuffer[commandBufferIndex++] = isprint(ch)?ch:'*'; -// monitor.console->flush(); -// } monitor.debug("monitor run"); - - if( (&MONITOR_UART!=NULL) && MONITOR_UART.available() ){ - while(MONITOR_UART.available() && commandBufferIndex < MAX_MONITOR_LINE_LENGTH && ((ch=MONITOR_UART.read()) != '\n') && ch !='\r' ) { - commandBuffer[commandBufferIndex++] = isprint(ch)?ch:'*'; - MONITOR_UART.flush(); - } - - if (commandBufferIndex && ((ch=='\n')||(ch=='\r'))) { - while (commandBufferIndex<4) { commandBuffer[commandBufferIndex++]='*';}; - // things get questionable if there are less than 4 characters. - commandBuffer[commandBufferIndex]='\0'; - commandBufferIndex=0; - gotLine=true; - } - } - - if (gotLine) { - key[0]=toupper(commandBuffer[0]); - key[1]=toupper(commandBuffer[1]); - key[2]=toupper(commandBuffer[2]); - action=commandBuffer[3]; - arguments=commandBuffer+4; - index=monitor.lookupIndex(key); - if (index>=0&&index<NKEYWORDS) { - actions[index](index,action,arguments); - } else { - monitor.update("NAK","%c%c%c[%c] is not understood HLP? for a list of keywords", - key[0],key[1],key[2],action); // better than no response... - } - gotLine=false; - } -} - -int Monitor::lookupIndex(char *key) { - int ndx=0; - int ptr=0; - while (ndx<NKEYWORDS) { - if ( ( keywords[ptr]==toupper(key[0]) ) - && ( keywords[ptr+1] == toupper(key[1]) ) - && ( keywords[ptr+2] == toupper(key[2]) ) - ) { return ndx; - } else { - ndx++; - ptr+=3; - } - } - return -1; -} - - -char keyBuff[4]; //fix or move this ???. - -char * Monitor::lookupKey(int ndx) { - int ptr=0; - keyBuff[0]=keyBuff[1]=keyBuff[2]='?'; - if (ndx >=0 && ndx<NKEYWORDS) { - ptr=ndx*3; - keyBuff[0]=(keywords[ptr]); - keyBuff[1]=(keywords[ptr+1]); - keyBuff[2]=(keywords[ptr+2]); - keyBuff[3]='\0'; - } - - return keyBuff; -} - - - -extern "C" char *sbrk(int i); - -int getFreeMemory() -{ - - // avr specific - // extern int __heap_start, *__brkval; - // int v; - // return (int) &v - (__brkval == 0 ? (int) &__heap_start : (int) __brkval); - // return 0; - //https://learn.adafruit.com/adafruit-feather-m0-basic-proto/adapting-sketches-to-m0 - char stack_dummy = 0; - return &stack_dummy - sbrk(0); - -} - -#ifdef ARDUINO_SAMD_ZERO -#include "Adafruit_SleepyDog.h" -#include "Reset.h" - -void jump2bootloader(){ - initiateReset(10); -} -void reboot(){ - Watchdog.enable(150); - for(;;); -} -#elif defined(ARDUINO_AVR_MICRO) || defined(ARDUINO_AVR_LEONARDO) -#include <avr/wdt.h> -#ifndef MAGIC_KEY -#define MAGIC_KEY 0x7777 -#endif -#ifndef MAGIC_KEY_POS -#define MAGIC_KEY_POS 0x0800 -#endif -void jump2bootloader(){ - int16_t magic_key_pos = MAGIC_KEY_POS; - *(uint16_t *)magic_key_pos = MAGIC_KEY; - wdt_enable(WDTO_120MS); - for(;;); -} -void reboot(){ - int16_t magic_key_pos = MAGIC_KEY_POS; - *(uint16_t *)magic_key_pos = 0; - wdt_enable(WDTO_120MS); - for(;;); - -} -#endif - - - - - - diff --git a/Arduino/ems-light/Monitor.h b/Arduino/ems-light/Monitor.h deleted file mode 100755 index 2c01c65..0000000 --- a/Arduino/ems-light/Monitor.h +++ /dev/null @@ -1,226 +0,0 @@ -/*---------------------------------------------------------------------Monitor.h - Author: Joseph Wayne Dumoulin, Donald Delmar Davis, Suspect Devices - - Liscence: "Simplified BSD License" - - Copyright (c) 2016, Donald Delmar Davis, Suspect Devices - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, - this list of conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in thedocumentation - and/or other materials provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - ----------------------------------------------------------------------------- - The idea here is to create an automation freindly monitor protocol and debug - interface. Because this needs to be efficient (and flexible) I have chosen a - very simple interface which will access and may manipulate a devices public - variables. - - Basic Syntax for the monitor is - XXX[?!:] <variable stuff> <CR> - where: - XXX is a 3 letter command or variable. - ! execute command or store value - ? get value - :<20 char timestamp>, value returned. - - - keywords are described in keywords.h -*/ - -#ifndef Monitor_h -#define Monitor_h - -#include "Configuration.h" -class Monitor; -extern Monitor monitor; -#include "Machine.h" - -void jump2bootloader(); -void reboot(); - - -#include "TaskScheduler.h" -#include <stdio.h> -#include <stdarg.h> - -// fix this for processor the stubbed here is for the AVR -#define EEPROM_NOT_SET 0xff -#ifndef eeprom_read_byte -#define eeprom_read_byte(x) (0xff) -#endif -#ifndef eeprom_write_byte -# define eeprom_write_byte(x,v) (v) -#endif - -#include "keywords.h" - -#define MONITOR_SERIAL_NUMBER_CHARS 20 - -enum severityIndex { - SEV_NONE, SEV_FATAL, SEV_ALERT, SEV_WARN, SEV_INFO, SEV_DEBUG, SEV_LOG -}; - -#define MAX_RETURN_VALUE 104 -#define MAX_MONITOR_LINE_LENGTH (MAX_RETURN_VALUE-6) - -typedef void(*actionptr)(uint8_t, uint8_t, char *); - -extern char actionBuffer[MAX_RETURN_VALUE]; -extern actionptr actions[]; - - -#define MAX_PSN_LENGTH 33 - -//forwards... -//class Monitor; -//extern Monitor monitor; -class Machine; -extern Machine machine; -extern int getFreeMemory(); -extern char commandBuffer[]; - - -class Monitor -{ - private: - uint8_t _debugLevel; - uint8_t _commandMode; - uint8_t _logLevel; - char _psn[MAX_PSN_LENGTH]; // bracket this ... samd processor serial number - int get_free_memory(); - - int lookupIndex(char *key); - - - public: - char * lookupKey(int ndx); - - static char *keyword(int ndx); - - /*-------------------------------------------------------------------------------- - * built in callback routines. - *-------------------------------------------------------------------------------*/ - - static void ACK (uint8_t kwIndex, uint8_t verb, char *args) { - monitor.update("ACK",""); - } - - static void NOP(uint8_t kwIndex, uint8_t verb, char* args) { - monitor.update("NAK", "%s is not implemented!", monitor.lookupKey(kwIndex)); - } - - static void DVL(uint8_t kwIndex, uint8_t verb, char* args) { - if (verb == '!') { - monitor.setDebugLevel(atoi(args)); - } - monitor.update("DVL", "%d", monitor.debugLevel()); - } - - static void MEM (uint8_t kwIndex, uint8_t verb,char *args) { - monitor.update("MEM","%d",getFreeMemory()); - } - static void HWV (uint8_t kwIndex, uint8_t verb,char *args) { - monitor.update("HWV","%d",monitor.unitHardwareVersion()); - } - - static void CMD(uint8_t kwIndex, uint8_t verb, char *args) { - if (verb=='!') { - bool setIt = (atoi(args)); - monitor.setCommandMode(setIt); - } - monitor.update("CMD","%s",monitor.commandMode()?"ON":"OFF"); - } - - static void SWV(uint8_t kwIndex, uint8_t verb, char *args) { - monitor.update("SWV","%s",FIRMWAREREV); - } - - static void SSN(uint8_t kwIndex, uint8_t verb, char *args) { - monitor.update("SSN","%s",monitor.unitSerialNumber()); - } - - static void GIT(uint8_t kwIndex, uint8_t verb, char *args) { - monitor.update("GIT","%s",GIT_VERSION); - } - - static void RST(uint8_t kwIndex, uint8_t verb, char *args) { - if (verb=='!') { - monitor.warn("Rebooting!"); - MONITOR_UART.end(); - reboot(); - } else { - monitor.update("NAK","RST Requires verb!"); - } - } - - static void BLD(uint8_t kwIndex, uint8_t verb, char *args) { - if (verb=='!') { - monitor.warn("Jumping to Bootloader!"); - jump2bootloader(); - } else { - monitor.update("NAK","BLD Requires verb!"); - } - } - - // stubb - static void HLP(uint8_t kwIndex, uint8_t verb, char *args) { - monitor.update("NAK","HLP requires multi line data (MLD)"); - } - - Monitor(); - - static void run(); - - char *unitSerialNumber() { - return _psn; - }; - - int unitHardwareVersion() { - return 0; - }; - - - void update(const char *, const char *format, ...); - void fatal(int, const char *format, ...); - void alert(const char *format, ...) { va_list blarg; update("ALT", format, blarg); va_end(blarg);}; - void warn(const char *format, ...) { va_list blarg; update("WAR", format, blarg); va_end(blarg);}; - void log(const char *format, ...) { va_list blarg; update("LOG", format, blarg); va_end(blarg);}; - // void info(int); - void debug(const char *format, ...); - void setDebugLevel(uint8_t lvl) { - //eeprom_write_byte(DEBUG_LEVEL_EEPROM_ADDR, (_debugLevel = lvl)); - _debugLevel = lvl; - - }; //FIX - void setCommandMode(uint8_t mode) { - _commandMode = mode; - } - uint8_t commandMode() { - return _commandMode; - } - uint8_t debugLevel() { - return _debugLevel;// = eeprom_read_byte(DEBUG_LEVEL_EEPROM_ADDR); - }; //FIX - void init(); - void registerAction(uint8_t, actionptr); -}; -#endif - diff --git a/Arduino/ems-light/SafetyThird.cpp b/Arduino/ems-light/SafetyThird.cpp deleted file mode 100755 index 180edd2..0000000 --- a/Arduino/ems-light/SafetyThird.cpp +++ /dev/null @@ -1,47 +0,0 @@ -/*---------------------------------------------------------------SafetyThird.cpp - * - * *********************** Don't put safety third !!!! ************************* - * - * This is a reminder not to put safety third like your workplace does. - * (after corporate profits and management whim) - * - * Author: Donald Delmar Davis, Suspect Devices - * Liscence: "Simplified BSD License" - * - * Copyright (c) 2016, Donald Delmar Davis, Suspect Devices - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in thedocumentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *-----------------------------------------------------------------------------*/ -/* - * The safteyThird module is a place for items relating to the safety of machines. - * Examples include: - * Watchdog timer (a mechanism for keeping code from running away from its job) - * K1, K2 ( in large machinery a pair of Kontactors designed to drop power ) - * E-stop ( A big red button or a lanyard for emergencies) - * Light Curtain (a device to keep fingers from getting into dangerous areas) - * red. (lights or other indicators that there may be problems. - */ -#include "SafetyThird.h" - -SafetyThird safety; diff --git a/Arduino/ems-light/SafetyThird.h b/Arduino/ems-light/SafetyThird.h deleted file mode 100755 index 3b318a5..0000000 --- a/Arduino/ems-light/SafetyThird.h +++ /dev/null @@ -1,198 +0,0 @@ -/*-----------------------------------------------------------------SafetyThird.h - * - * *********************** Don't put safety third !!!! ************************* - * - * This is a reminder not to put safety third like your workplace does. - * (after corporate profits and management whim) - * - * Author: Donald Delmar Davis, Suspect Devices - * Liscence: "Simplified BSD License" - * - * Copyright (c) 2016, Donald Delmar Davis, Suspect Devices - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in thedocumentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *-----------------------------------------------------------------------------*/ -/* - * The safteyThird module is a place for items relating to the safety of machines. - * Examples include: - * Watchdog timer (a mechanism for keeping code from running away from its job) - * K1, K2 ( in large machinery a pair of Kontactors designed to drop power ) - * E-stop ( A big red button or a lanyard for emergencies) - * Light Curtain (a device to keep fingers from getting into dangerous areas) - * red. (lights or other indicators that there may be problems. - */ - -#ifndef SafetyThird_h -#define SafetyThird_h - - -#include "Configuration.h" -#include "Monitor.h" - -class SafetyThird; -extern SafetyThird safety; -#define RED_FULL_ON (255 * (1 << (ANALOG_WRITE_RESOLUTION - 8))) -#define RED_OFF 0 - -// preprocessor logic for core specific WDT implimentation here.... -#include <Adafruit_SleepyDog.h> - -static void RED (uint8_t kwIndex, uint8_t verb,char *args) ; - -class SafetyThird { - -private: - bool _eStop; - bool _prevEStop; - bool _prevLightCurtain; - // put the contactor variables back here - // mebby look at the light curtain as well - Task _doDoRunRun; - -public: - - bool _lightCurtain; - bool _lightCurtainReset; - -#ifdef LIGHT_CURTAIN_START_PIN - static void LCS(uint8_t kwIndex, uint8_t verb, char *args) { - // - // set logic here - // - monitor.update("LCS","%s",safety._lightCurtain?"ON":"OFF"); - safety.first(); - } - - static void LCR(uint8_t kwIndex, uint8_t verb, char *args) { - if (verb=='!') { - safety._lightCurtainReset = (atoi(args)); - digitalWrite(LIGHT_CURTAIN_START_PIN,safety._lightCurtainReset); - } - safety.first(); - monitor.update("LCR","%s",safety._lightCurtainReset?"ON":"OFF"); - } -#endif - - static void run() {safety.first();} - - void first () { // could also be called paranoia. - -#ifdef E_STOP_PIN - _eStop = (digitalRead(E_STOP_PIN)==E_STOP_PULLED ); -#else - _eStop = false; -#endif - -#ifdef LIGHT_CURTAIN_OSDD_PIN - _lightCurtain = (digitalRead(LIGHT_CURTAIN_OSDD_PIN) == LIGHT_CURTAIN_NOT_CLEAR); -#else - _lightCurtain = false; -#endif - if ((machine.inSafeStateToRun) - && (_eStop) - ) - { - monitor.update("STP","1 ESTOP Pushed: Initiating Emergency Stop"); - machine.setState(STATE_E_SHUTDOWN); - } - if (_eStop!=_prevEStop) { - _eStop = _prevEStop; - if (_eStop){ - // probably should warn or alert! - monitor.update("STP","1 ESTOP Pushed: Contactors are OFF"); -#ifdef K1_PIN - digitalWrite(K1_PIN,KONTACTOR_OFF); -#endif - } else { - monitor.update("STP","0 E-STOP Released: Contactors are ON"); -#ifdef K1_PIN - digitalWrite(K1_PIN,KONTACTOR_ON); -#endif - } - } - // - // this is rough... Fix when there is hardware to test with - // - if(_lightCurtain!=_prevLightCurtain) { - if (_lightCurtain) { -#ifdef K1_PIN - digitalWrite(K1_PIN,KONTACTOR_OFF); -#endif - } else { -#ifdef K1_PIN - digitalWrite(K1_PIN,KONTACTOR_OFF); -#endifâ„ - } - monitor.update("LCS","%s",_lightCurtain?"ON":"OFF"); - } - _prevLightCurtain=_lightCurtain; - _prevEStop=_eStop; - } - uint redLightVal; // red led value prolly bad style - - void redLight(int newVal) { - if(newVal!=redLightVal) { - redLightVal=newVal; - monitor.update("RED","%d",redLightVal); - } -#ifdef SAFETY_LAMP_PIN - analogWrite(SAFETY_LAMP_PIN, safety.redLightVal * (1 << (ANALOG_WRITE_RESOLUTION - 8) ) ); -#endif - } - - void init() { -#ifdef E_STOP_PIN - pinMode (E_STOP_PIN, INPUT_PULLUP); -#endif - - // Might move this to machine or other more generic place. - // http://www.arduino.org/learning/reference/analogwriteresolution - analogWriteResolution(ANALOG_WRITE_RESOLUTION); -#ifdef LIGHT_CURTAIN_RESET_PIN - _lightCurtainReset = true; - digitalWrite(LIGHT_CURTAIN_START_PIN,LIGHT_CURTAIN_START); -#else - _lightCurtainReset = false; -#endif - _prevLightCurtain=false; - _prevEStop=false; - - redLight(redLightVal=RED_OFF); - _doDoRunRun.set(77L, TASK_FOREVER, &run); - machine.todolist.addTask(_doDoRunRun); - _doDoRunRun.enable(); - - monitor.registerAction(_RED_, &RED); - } -}; - -static void RED (uint8_t kwIndex, uint8_t verb,char *args) { - // monitor update? - safety.redLight(atol(args)); - -} - - -#endif - diff --git a/Arduino/ems-light/TaskScheduler.h b/Arduino/ems-light/TaskScheduler.h deleted file mode 100755 index 89ae8a2..0000000 --- a/Arduino/ems-light/TaskScheduler.h +++ /dev/null @@ -1,824 +0,0 @@ -// Cooperative multitasking library for Arduino version 2.0.2sd -// Copyright (c) 2015 Anatoli Arkhipenko -// -// Changelog: -// v1.0.0: -// 2015-02-24 - Initial release -// 2015-02-28 - added delay() and disableOnLastIteration() methods -// 2015-03-25 - changed scheduler execute() method for a more precise delay calculation: -// 1. Do not delay if any of the tasks ran (making request for immediate execution redundant) -// 2. Delay is invoked only if none of the tasks ran -// 3. Delay is based on the min anticipated wait until next task _AND_ the runtime of execute method itself. -// 2015-05-11 - added restart() and restartDelayed() methods to restart tasks which are on hold after running all iterations -// 2015-05-19 - completely removed delay from the scheduler since there are no power saving there. using 1 ms sleep instead -// -// v1.4.1: -// 2015-09-15 - more careful placement of AVR-specific includes for sleep method (compatibility with DUE) -// sleep on idle run is no longer a default and should be explicitly compiled with _TASK_SLEEP_ON_IDLE_RUN defined -// -// v1.5.0: -// 2015-09-20 - access to currently executing task (for callback methods) -// 2015-09-20 - pass scheduler as a parameter to the task constructor to append the task to the end of the chain -// 2015-09-20 - option to create a task already enabled -// -// v1.5.1: -// 2015-09-21 - bug fix: incorrect handling of active tasks via set() and setIterations(). -// Thanks to Hannes Morgenstern for catching this one -// -// v1.6.0: -// 2015-09-22 - revert back to having all tasks disable on last iteration. -// 2015-09-22 - deprecated disableOnLastIteration method as a result -// 2015-09-22 - created a separate branch 'disable-on-last-iteration' for this -// 2015-10-01 - made version numbers semver compliant (documentation only) -// -// v1.7.0: -// 2015-10-08 - introduced callback run counter - callback methods can branch on the iteration number. -// 2015-10-11 - enableIfNot() - enable a task only if it is not already enabled. Returns true if was already enabled, false if was disabled. -// 2015-10-11 - disable() returns previous enable state (true if was enabled, false if was already disabled) -// 2015-10-11 - introduced callback methods "on enable" and "on disable". On enable runs every time enable is called, on disable runs only if task was enabled -// 2015-10-12 - new Task method: forceNextIteration() - makes next iteration happen immediately during the next pass regardless how much time is left -// -// v1.8.0: -// 2015-10-13 - support for status request objects allowing tasks waiting on requests -// 2015-10-13 - moved to a single header file to allow compilation control via #defines from the main sketch -// -// v1.8.1: -// 2015-10-22 - implement Task id and control points to support identification of failure points for watchdog timer logging -// -// v1.8.2: -// 2015-10-27 - implement Local Task Storage Pointer (allow use of same callback code for different tasks) -// 2015-10-27 - bug: currentTask() method returns incorrect Task reference if called within OnEnable and OnDisable methods -// 2015-10-27 - protection against infinite loop in OnEnable (if enable() methods are called within OnEnable) -// 2015-10-29 - new currentLts() method in the scheduler class returns current task's LTS pointer in one call -// -// v1.8.3: -// 2015-11-05 - support for task activation on a status request with arbitrary interval and number of iterations (0 and 1 are still default values) -// 2015-11-05 - implement waitForDelayed() method to allow task activation on the status request completion delayed for one current interval -// 2015-11-09 - added callback methods prototypes to all examples for Arduino IDE 1.6.6 compatibility -// 2015-11-14 - added several constants to be used as task parameters for readability (e.g, TASK_FOREVER, TASK_SECOND, etc.) -// 2015-11-14 - significant optimization of the scheduler's execute loop, including millis() rollover fix option -// -// v1.8.4: -// 2015-11-15 - bug fix: Task alignment with millis() for scheduling purposes should be done after OnEnable, not before. Especially since OnEnable method can change the interval -// 2015-11-16 - further optimizations of the task scheduler execute loop -// -// v1.8.5: -// 2015-11-23 - bug fix: incorrect calculation of next task invocation in case callback changed the interval -// 2015-11-23 - bug fix: Task::set() method calls setInterval() explicitly, therefore delaying the task in the same manner -// -// v1.9.0: -// 2015-11-24 - packed three byte-long status variables into bit array structure data type - saving 2 bytes per each task instance -// -// v1.9.2: -// 2015-11-28 - _TASK_ROLLOVER_FIX is deprecated (not necessary) -// 2015-12-16 - bug fixes: automatic millis rollover support for delay methods -// 2015-12-17 - new method for _TASK_TIMECRITICAL option: getStartDelay() -// -// v2.0.0: -// 2015-12-22 - _TASK_PRIORITY - support for layered task prioritization -// -// v2.0.1: -// 2016-01-02 - bug fix: issue#11 Xtensa compiler (esp8266): Declaration of constructor does not match implementation -// -// v2.0.2: -// 2016-01-05 - bug fix: time constants wrapped inside compile option -// 2016-01-05 - support for ESP8266 wifi power saving mode for _TASK_SLEEP_ON_IDLE_RUN compile option -// -// v2.1.0: -// 2016-02-01 - support for microsecond resolution -// 2016-02-02 - added Scheduler baseline start time reset method: startNow() - -/* ============================================ -Cooperative multitasking library code is placed under the MIT license -Copyright (c) 2015 Anatoli Arkhipenko - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. -=============================================== -*/ - - -#include <Arduino.h> - -#ifndef _TASKSCHEDULER_H_ -#define _TASKSCHEDULER_H_ - -/** ---------------------------------------- - * The following "defines" control library functionality at compile time, - * and should be used in the main sketch depending on the functionality required - * - * #define _TASK_TIMECRITICAL // Enable monitoring scheduling overruns - * #define _TASK_SLEEP_ON_IDLE_RUN // Enable 1 ms SLEEP_IDLE powerdowns between tasks if no callback methods were invoked during the pass - * #define _TASK_STATUS_REQUEST // Compile with support for StatusRequest functionality - triggering tasks on status change events in addition to time only - * #define _TASK_WDT_IDS // Compile with support for wdt control points and task ids - * #define _TASK_LTS_POINTER // Compile with support for local task storage pointer - * #define _TASK_PRIORITY // Support for layered scheduling priority - * #define _TASK_MICRO_RES // Support for microsecond resolution - */ - - - #ifdef _TASK_MICRO_RES - - #undef _TASK_SLEEP_ON_IDLE_RUN // SLEEP_ON_IDLE has only millisecond resolution - #define _TASK_TIME_FUNCTION() micros() - - #else - - #define _TASK_TIME_FUNCTION() millis() - - #endif // _TASK_MICRO_RES - - -#ifdef _TASK_SLEEP_ON_IDLE_RUN - -#ifdef ARDUINO_ARCH_AVR -#include <avr/sleep.h> -#include <avr/power.h> -#endif // ARDUINO_ARCH_AVR - -#ifdef ARDUINO_ARCH_ESP8266 -extern "C" { -#include "user_interface.h" -} -#define _TASK_ESP8266_DLY_THRESHOLD 200L -#endif // ARDUINO_ARCH_ESP8266 - -#endif // _TASK_SLEEP_ON_IDLE_RUN - -#define TASK_IMMEDIATE 0 -#define TASK_FOREVER (-1) -#define TASK_ONCE 1 - - -#ifndef _TASK_MICRO_RES - -#define TASK_SECOND 1000L -#define TASK_MINUTE 60000L -#define TASK_HOUR 3600000L - -#else - -#define TASK_SECOND 1000000L -#define TASK_MINUTE 60000000L -#define TASK_HOUR 3600000000L - -#endif // _TASK_MICRO_RES - - -#ifdef _TASK_STATUS_REQUEST - -#define _TASK_SR_NODELAY 1 -#define _TASK_SR_DELAY 2 - -class StatusRequest { - public: - StatusRequest() {iCount = 0; iStatus = 0; } - inline void setWaiting(unsigned int aCount = 1) { iCount = aCount; iStatus = 0; } - bool signal(int aStatus = 0); - void signalComplete(int aStatus = 0); - inline bool pending() { return (iCount != 0); } - inline bool completed() { return (iCount == 0); } - inline int getStatus() { return iStatus; } - - private: - unsigned int iCount; // number of statuses to wait for. waiting for more that 65000 events seems unreasonable: unsigned int should be sufficient - int iStatus; // status of the last completed request. negative = error; zero = OK; >positive = OK with a specific status -}; -#endif // _TASK_STATUS_REQUEST - - -typedef struct { - bool enabled : 1; // indicates that task is enabled or not. - bool inonenable : 1; // indicates that task execution is inside OnEnable method (preventing infinite loops) -#ifdef _TASK_STATUS_REQUEST - byte waiting : 2; // indication if task is waiting on the status request -#endif -} __task_status; - -class Scheduler; - - -#ifdef _TASK_WDT_IDS - static unsigned int __task_id_counter = 0; // global task ID counter for assiging task IDs automatically. -#endif // _TASK_WDT_IDS - -class Task { - friend class Scheduler; - public: - Task(unsigned long aInterval=0, long aIterations=0, void (*aCallback)()=NULL, Scheduler* aScheduler=NULL, bool aEnable=false, bool (*aOnEnable)()=NULL, void (*aOnDisable)()=NULL); -#ifdef _TASK_STATUS_REQUEST - Task(void (*aCallback)()=NULL, Scheduler* aScheduler=NULL, bool (*aOnEnable)()=NULL, void (*aOnDisable)()=NULL); -#endif // _TASK_STATUS_REQUEST - - void enable(); - bool enableIfNot(); - void enableDelayed(unsigned long aDelay=0); - void delay(unsigned long aDelay=0); - void forceNextIteration(); - void restart(); - void restartDelayed(unsigned long aDelay=0); - bool disable(); - inline bool isEnabled() { return iStatus.enabled; } - void set(unsigned long aInterval, long aIterations, void (*aCallback)(),bool (*aOnEnable)()=NULL, void (*aOnDisable)()=NULL); - void setInterval(unsigned long aInterval); - inline unsigned long getInterval() { return iInterval; } - void setIterations(long aIterations); - inline long getIterations() { return iIterations; } - inline unsigned long getRunCounter() { return iRunCounter; } - inline void setCallback(void (*aCallback)()) { iCallback = aCallback; } - inline void setOnEnable(bool (*aCallback)()) { iOnEnable = aCallback; } - inline void setOnDisable(void (*aCallback)()) { iOnDisable = aCallback; } -#ifdef _TASK_TIMECRITICAL - inline long getOverrun() { return iOverrun; } - inline long getStartDelay() { return iStartDelay; } -#endif // _TASK_TIMECRITICAL - inline bool isFirstIteration() { return (iRunCounter <= 1); } - inline bool isLastIteration() { return (iIterations == 0); } -#ifdef _TASK_STATUS_REQUEST - void waitFor(StatusRequest* aStatusRequest, unsigned long aInterval = 0, long aIterations = 1); - void waitForDelayed(StatusRequest* aStatusRequest, unsigned long aInterval = 0, long aIterations = 1); - inline StatusRequest* getStatusRequest() {return iStatusRequest; } -#endif // _TASK_STATUS_REQUEST -#ifdef _TASK_WDT_IDS - inline void setId(unsigned int aID) { iTaskID = aID; } - inline unsigned int getId() { return iTaskID; } - inline void setControlPoint(unsigned int aPoint) { iControlPoint = aPoint; } - inline unsigned int getControlPoint() { return iControlPoint; } -#endif // _TASK_WDT_IDS -#ifdef _TASK_LTS_POINTER - inline void setLtsPointer(void *aPtr) { iLTS = aPtr; } - inline void* getLtsPointer() { return iLTS; } -#endif // _TASK_LTS_POINTER - - private: - void reset(); - - volatile __task_status iStatus; - volatile unsigned long iInterval; // execution interval in milliseconds (or microseconds). 0 - immediate - volatile unsigned long iDelay; // actual delay until next execution (usually equal iInterval) - volatile unsigned long iPreviousMillis; // previous invocation time (millis). Next invocation = iPreviousMillis + iInterval. Delayed tasks will "catch up" -#ifdef _TASK_TIMECRITICAL - volatile long iOverrun; // negative if task is "catching up" to it's schedule (next invocation time is already in the past) - volatile long iStartDelay; // actual execution of the task's callback method was delayed by this number of millis -#endif // _TASK_TIMECRITICAL - volatile long iIterations; // number of iterations left. 0 - last iteration. -1 - infinite iterations - long iSetIterations; // number of iterations originally requested (for restarts) - unsigned long iRunCounter; // current number of iteration (starting with 1). Resets on enable. - void (*iCallback)(); // pointer to the void callback method - bool (*iOnEnable)(); // pointer to the bolol OnEnable callback method - void (*iOnDisable)(); // pointer to the void OnDisable method - Task *iPrev, *iNext; // pointers to the previous and next tasks in the chain - Scheduler *iScheduler; // pointer to the current scheduler -#ifdef _TASK_STATUS_REQUEST - StatusRequest *iStatusRequest; // pointer to the status request task is or was waiting on -#endif // _TASK_STATUS_REQUEST -#ifdef _TASK_WDT_IDS - unsigned int iTaskID; // task ID (for debugging and watchdog identification) - unsigned int iControlPoint; // current control point within the callback method. Reset to 0 by scheduler at the beginning of each pass -#endif // _TASK_WDT_IDS -#ifdef _TASK_LTS_POINTER - void *iLTS; // pointer to task's local storage. Needs to be recast to appropriate type (usually a struct). -#endif // _TASK_LTS_POINTER -}; - - -#ifdef _TASK_PRIORITY - static Scheduler* iCurrentScheduler; -#endif // _TASK_PRIORITY - -class Scheduler { - friend class Task; - public: - Scheduler(); - void init(); - void addTask(Task& aTask); - void deleteTask(Task& aTask); - void disableAll(bool aRecursive = true); - void enableAll(bool aRecursive = true); - bool execute(); // Returns true if at none of the tasks' callback methods was invoked (true if idle run) - void startNow(bool aRecursive = true); // reset ALL active tasks to immediate execution NOW. - inline Task& currentTask() {return *iCurrent; } -#ifdef _TASK_SLEEP_ON_IDLE_RUN - void allowSleep(bool aState = true); -#endif // _TASK_SLEEP_ON_IDLE_RUN -#ifdef _TASK_LTS_POINTER - inline void* currentLts() {return iCurrent->iLTS; } -#endif // _TASK_LTS_POINTER -#ifdef _TASK_TIMECRITICAL - inline bool isOverrun() { return (iCurrent->iOverrun < 0); } -#endif // _TASK_TIMECRITICAL -#ifdef _TASK_PRIORITY - void setHighPriorityScheduler(Scheduler* aScheduler); - static Scheduler& currentScheduler() { return *(iCurrentScheduler); }; -#endif // _TASK_PRIORITY - - private: - Task *iFirst, *iLast, *iCurrent; // pointers to first, last and current tasks in the chain -#ifdef _TASK_SLEEP_ON_IDLE_RUN - bool iAllowSleep; // indication if putting avr to IDLE_SLEEP mode is allowed by the program at this time. -#endif // _TASK_SLEEP_ON_IDLE_RUN -#ifdef _TASK_PRIORITY - Scheduler *iHighPriority; // Pointer to a higher priority scheduler -#endif // _TASK_PRIORITY -}; - - -// ------------------ TaskScheduler implementation -------------------- - -/** Constructor, uses default values for the parameters - * so could be called with no parameters. - */ -inline Task::Task( unsigned long aInterval, long aIterations, void (*aCallback)(), Scheduler* aScheduler, bool aEnable, bool (*aOnEnable)(), void (*aOnDisable)() ) { - reset(); - set(aInterval, aIterations, aCallback, aOnEnable, aOnDisable); - if (aScheduler) aScheduler->addTask(*this); -#ifdef _TASK_STATUS_REQUEST - iStatusRequest = NULL; -#endif // _TASK_STATUS_REQUEST -#ifdef _TASK_WDT_IDS - iTaskID = ++__task_id_counter; -#endif // _TASK_WDT_IDS - if (aEnable) enable(); -} - - -#ifdef _TASK_STATUS_REQUEST - -/** Constructor with reduced parameter list for tasks created for - * StatusRequest only triggering (always immediate and only 1 iteration) - */ -inline Task::Task( void (*aCallback)(), Scheduler* aScheduler, bool (*aOnEnable)(), void (*aOnDisable)() ) { - reset(); - set(TASK_IMMEDIATE, TASK_ONCE, aCallback, aOnEnable, aOnDisable); - if (aScheduler) aScheduler->addTask(*this); - iStatusRequest = NULL; -#ifdef _TASK_WDT_IDS - iTaskID = ++__task_id_counter; -#endif // _TASK_WDT_IDS -} - -/** Signals completion of the StatusRequest by one of the participating events - * @param: aStatus - if provided, sets the return code of the StatusRequest: negative = error, 0 (default) = OK, positive = OK with a specific status code - * Negative status will complete Status Request fully (since an error occured). - * @return: true, if StatusRequest is complete, false otherwise (still waiting for other events) - */ -inline bool StatusRequest::signal(int aStatus) { - if ( iCount) { // do not update the status request if it was already completed - if (iCount > 0) --iCount; - if ( (iStatus = aStatus) < 0 ) iCount = 0; // if an error is reported, the status is requested to be completed immediately - } - return (iCount == 0); -} - -inline void StatusRequest::signalComplete(int aStatus) { - if (iCount) { // do not update the status request if it was already completed - iCount = 0; - iStatus = aStatus; - } -} - -/** Sets a Task to wait until a particular event completes - * @param: aStatusRequest - a pointer for the StatusRequest to wait for. - * If aStatusRequest is NULL, request for waiting is ignored, and the waiting task is not enabled. - */ -inline void Task::waitFor(StatusRequest* aStatusRequest, unsigned long aInterval, long aIterations) { - if ( ( iStatusRequest = aStatusRequest) ) { // assign internal StatusRequest var and check if it is not NULL - setIterations(aIterations); - setInterval(aInterval); - iStatus.waiting = _TASK_SR_NODELAY; // no delay - enable(); - } -} - -inline void Task::waitForDelayed(StatusRequest* aStatusRequest, unsigned long aInterval, long aIterations) { - if ( ( iStatusRequest = aStatusRequest) ) { // assign internal StatusRequest var and check if it is not NULL - setIterations(aIterations); - if ( aInterval ) setInterval(aInterval); // For the dealyed version only set the interval if it was not a zero - iStatus.waiting = _TASK_SR_DELAY; // with delay equal to the current interval - enable(); - } -} -#endif // _TASK_STATUS_REQUEST - -/** Resets (initializes) the task/ - * Task is not enabled and is taken out - * out of the execution chain as a result - */ -inline void Task::reset() { - iStatus.enabled = false; - iStatus.inonenable = false; - iPreviousMillis = 0; - iInterval = iDelay = 0; - iPrev = NULL; - iNext = NULL; - iScheduler = NULL; - iRunCounter = 0; -#ifdef _TASK_TIMECRITICAL - iOverrun = 0; - iStartDelay = 0; -#endif // _TASK_TIMECRITICAL -#ifdef _TASK_WDT_IDS - iControlPoint = 0; -#endif // _TASK_WDT_IDS -#ifdef _TASK_LTS_POINTER - iLTS = NULL; -#endif // _TASK_LTS_POINTER -#ifdef _TASK_STATUS_REQUEST - iStatus.waiting = 0; -#endif // _TASK_STATUS_REQUEST -} - -/** Explicitly set Task execution parameters - * @param aInterval - execution interval in ms - * @param aIterations - number of iterations, use -1 for no limit - * @param aCallback - pointer to the callback method which executes the task actions - * @param aOnEnable - pointer to the callback method which is called on enable() - * @param aOnDisable - pointer to the callback method which is called on disable() - */ -inline void Task::set(unsigned long aInterval, long aIterations, void (*aCallback)(),bool (*aOnEnable)(), void (*aOnDisable)()) { - setInterval(aInterval); - iSetIterations = iIterations = aIterations; - iCallback = aCallback; - iOnEnable = aOnEnable; - iOnDisable = aOnDisable; -} - -/** Sets number of iterations for the task - * if task is enabled, schedule for immediate execution - * @param aIterations - number of iterations, use -1 for no limit - */ -inline void Task::setIterations(long aIterations) { - iSetIterations = iIterations = aIterations; -} - -/** Enables the task - * schedules it for execution as soon as possible, - * and resets the RunCounter back to zero - */ -inline void Task::enable() { - if (iScheduler) { // activation without active scheduler does not make sense - iRunCounter = 0; - if ( iOnEnable && !iStatus.inonenable ) { - Task *current = iScheduler->iCurrent; - iScheduler->iCurrent = this; - iStatus.inonenable = true; // Protection against potential infinite loop - iStatus.enabled = (*iOnEnable)(); - iStatus.inonenable = false; // Protection against potential infinite loop - iScheduler->iCurrent = current; - } - else { - iStatus.enabled = true; - } - iPreviousMillis = _TASK_TIME_FUNCTION() - (iDelay = iInterval); - } -} - -/** Enables the task only if it was not enabled already - * Returns previous state (true if was already enabled, false if was not) - */ -inline bool Task::enableIfNot() { - bool previousEnabled = iStatus.enabled; - if ( !previousEnabled ) enable(); - return (previousEnabled); -} - -/** Enables the task - * and schedules it for execution after a delay = aInterval - */ -inline void Task::enableDelayed(unsigned long aDelay) { - enable(); - delay(aDelay); -} - -/** Delays Task for execution after a delay = aInterval (if task is enabled). - * leaves task enabled or disabled - * if aDelay is zero, delays for the original scheduling interval from now - */ -inline void Task::delay(unsigned long aDelay) { -// if (!aDelay) aDelay = iInterval; - iDelay = aDelay ? aDelay : iInterval; - iPreviousMillis = _TASK_TIME_FUNCTION(); // - iInterval + aDelay; -} - -/** Schedules next iteration of Task for execution immediately (if enabled) - * leaves task enabled or disabled - * Task's original schedule is shifted, and all subsequent iterations will continue from this point in time - */ -inline void Task::forceNextIteration() { - iPreviousMillis = _TASK_TIME_FUNCTION() - (iDelay = iInterval); -} - -/** Sets the execution interval. - * Task execution is delayed for aInterval - * Use enable() to schedule execution ASAP - * @param aInterval - new execution interval - */ -inline void Task::setInterval (unsigned long aInterval) { - iInterval = aInterval; - delay(); // iDelay will be updated by the delay() function -} - -/** Disables task - * Task will no longer be executed by the scheduler - * Returns status of the task before disable was called (i.e., if the task was already disabled) - */ -inline bool Task::disable() { - bool previousEnabled = iStatus.enabled; - iStatus.enabled = false; - iStatus.inonenable = false; - if (previousEnabled && iOnDisable) { - Task *current = iScheduler->iCurrent; - iScheduler->iCurrent = this; - (*iOnDisable)(); - iScheduler->iCurrent = current; - } - return (previousEnabled); -} - -/** Restarts task - * Task will run number of iterations again - */ -inline void Task::restart() { - iIterations = iSetIterations; - enable(); -} - -/** Restarts task delayed - * Task will run number of iterations again - */ -inline void Task::restartDelayed(unsigned long aDelay) { - iIterations = iSetIterations; - enableDelayed(aDelay); -} - -// ------------------ Scheduler implementation -------------------- - -/** Default constructor. - * Creates a scheduler with an empty execution chain. - */ -inline Scheduler::Scheduler() { - init(); -} - -/** Initializes all internal varaibles - */ -inline void Scheduler::init() { - iFirst = NULL; - iLast = NULL; - iCurrent = NULL; -#ifdef _TASK_PRIORITY - iHighPriority = NULL; -#endif // _TASK_PRIORITY -#ifdef _TASK_SLEEP_ON_IDLE_RUN - allowSleep(true); -#endif // _TASK_SLEEP_ON_IDLE_RUN -} - -/** Appends task aTask to the tail of the execution chain. - * @param &aTask - reference to the Task to be appended. - * @note Task can only be part of the chain once. - */ -inline void Scheduler::addTask(Task& aTask) { - - aTask.iScheduler = this; -// First task situation: - if (iFirst == NULL) { - iFirst = &aTask; - aTask.iPrev = NULL; - } - else { -// This task gets linked back to the previous last one - aTask.iPrev = iLast; - iLast->iNext = &aTask; - } -// "Previous" last task gets linked to this one - as this one becomes the last one - aTask.iNext = NULL; - iLast = &aTask; -} - -/** Deletes specific Task from the execution chain - * @param &aTask - reference to the task to be deleted from the chain - */ -inline void Scheduler::deleteTask(Task& aTask) { - if (aTask.iPrev == NULL) { - if (aTask.iNext == NULL) { - iFirst = NULL; - iLast = NULL; - return; - } - else { - aTask.iNext->iPrev = NULL; - iFirst = aTask.iNext; - aTask.iNext = NULL; - return; - } - } - - if (aTask.iNext == NULL) { - aTask.iPrev->iNext = NULL; - iLast = aTask.iPrev; - aTask.iPrev = NULL; - return; - } - - aTask.iPrev->iNext = aTask.iNext; - aTask.iNext->iPrev = aTask.iPrev; - aTask.iPrev = NULL; - aTask.iNext = NULL; -} - -/** Disables all tasks in the execution chain - * Convenient for error situations, when the only - * task remaining active is an error processing task - * @param aRecursive - if true, tasks of the higher priority chains are disabled as well recursively - */ -inline void Scheduler::disableAll(bool aRecursive) { - Task *current = iFirst; - while (current) { - current->disable(); - current = current->iNext; - } -#ifdef _TASK_PRIORITY - if (aRecursive && iHighPriority) iHighPriority->disableAll(true); -#endif // _TASK_PRIORITY -} - - -/** Enables all the tasks in the execution chain - * @param aRecursive - if true, tasks of the higher priority chains are enabled as well recursively - */ -inline void Scheduler::enableAll(bool aRecursive) { - Task *current = iFirst; - while (current) { - current->enable(); - current = current->iNext; - } -#ifdef _TASK_PRIORITY - if (aRecursive && iHighPriority) iHighPriority->enableAll(true); -#endif // _TASK_PRIORITY -} - -/** Sets scheduler for the higher priority tasks (support for layered task priority) - * @param aScheduler - pointer to a scheduler for the higher priority tasks - */ -#ifdef _TASK_PRIORITY -inline void Scheduler::setHighPriorityScheduler(Scheduler* aScheduler) { - if (aScheduler != this) iHighPriority = aScheduler; // Setting yourself as a higher priority one will create infinite recursive call -#ifdef _TASK_SLEEP_ON_IDLE_RUN - if (iHighPriority) { - iHighPriority->allowSleep(false); // Higher priority schedulers should not do power management - } -#endif // _TASK_SLEEP_ON_IDLE_RUN -}; -#endif // _TASK_PRIORITY - - -#ifdef _TASK_SLEEP_ON_IDLE_RUN -inline void Scheduler::allowSleep(bool aState) { - iAllowSleep = aState; - -#ifdef ARDUINO_ARCH_ESP8266 - wifi_set_sleep_type( iAllowSleep ? LIGHT_SLEEP_T : NONE_SLEEP_T ); -#endif // ARDUINO_ARCH_ESP8266 - -} -#endif // _TASK_SLEEP_ON_IDLE_RUN - - -inline void Scheduler::startNow( bool aRecursive ) { - unsigned long t = _TASK_TIME_FUNCTION(); - - iCurrent = iFirst; - while (iCurrent) { - if ( iCurrent->iStatus.enabled ) iCurrent->iPreviousMillis = t - iCurrent->iDelay; - iCurrent = iCurrent->iNext; - } - -#ifdef _TASK_PRIORITY - if (aRecursive && iHighPriority) iHighPriority->startNow( true ); -#endif // _TASK_PRIORITY -} - -/** Makes one pass through the execution chain. - * Tasks are executed in the order they were added to the chain - * There is no concept of priority - * Different pseudo "priority" could be achieved - * by running task more frequently - */ -inline bool Scheduler::execute() { - bool idleRun = true; - register unsigned long m, i; // millis, interval; - -#ifdef ARDUINO_ARCH_ESP8266 - unsigned long t1 = micros(); - unsigned long t2 = 0; -#endif // ARDUINO_ARCH_ESP8266 - - iCurrent = iFirst; - - while (iCurrent) { - -#ifdef _TASK_PRIORITY - // If scheduler for higher priority tasks is set, it's entire chain is executed on every pass of the base scheduler - if (iHighPriority) idleRun = iHighPriority->execute() && idleRun; - iCurrentScheduler = this; -#endif // _TASK_PRIORITY - - do { - if ( iCurrent->iStatus.enabled ) { - -#ifdef _TASK_WDT_IDS - // For each task the control points are initialized to avoid confusion because of carry-over: - iCurrent->iControlPoint = 0; -#endif // _TASK_WDT_IDS - - // Disable task on last iteration: - if (iCurrent->iIterations == 0) { - iCurrent->disable(); - break; - } - m = _TASK_TIME_FUNCTION(); - i = iCurrent->iInterval; - -#ifdef _TASK_STATUS_REQUEST - // If StatusRequest object was provided, and still pending, and task is waiting, this task should not run - // Otherwise, continue with execution as usual. Tasks waiting to StatusRequest need to be rescheduled according to - // how they were placed into waiting state (waitFor or waitForDelayed) - if ( iCurrent->iStatus.waiting ) { - if ( (iCurrent->iStatusRequest)->pending() ) break; - if (iCurrent->iStatus.waiting == _TASK_SR_NODELAY) { - iCurrent->iPreviousMillis = m - (iCurrent->iDelay = i); - } - else { - iCurrent->iPreviousMillis = m; - } - iCurrent->iStatus.waiting = 0; - } -#endif // _TASK_STATUS_REQUEST - - if ( m - iCurrent->iPreviousMillis < iCurrent->iDelay ) break; - - if ( iCurrent->iIterations > 0 ) iCurrent->iIterations--; // do not decrement (-1) being a signal of never-ending task - iCurrent->iRunCounter++; - iCurrent->iPreviousMillis += iCurrent->iDelay; - -#ifdef _TASK_TIMECRITICAL - // Updated_previous+current interval should put us into the future, so iOverrun should be positive or zero. - // If negative - the task is behind (next execution time is already in the past) - unsigned long p = iCurrent->iPreviousMillis; - iCurrent->iOverrun = (long) ( p + i - m ); - iCurrent->iStartDelay = (long) ( m - p ); -#endif // _TASK_TIMECRITICAL - - iCurrent->iDelay = i; - if ( iCurrent->iCallback ) { - ( *(iCurrent->iCallback) )(); - idleRun = false; - } - } - } while (0); //guaranteed single run - allows use of "break" to exit - iCurrent = iCurrent->iNext; - } - -#ifdef _TASK_SLEEP_ON_IDLE_RUN - if (idleRun && iAllowSleep) { - -#ifdef ARDUINO_ARCH_AVR // Could be used only for AVR-based boards. - set_sleep_mode(SLEEP_MODE_IDLE); - sleep_enable(); - /* Now enter sleep mode. */ - sleep_mode(); - - /* The program will continue from here after the timer timeout ~1 ms */ - sleep_disable(); /* First thing to do is disable sleep. */ -#endif // ARDUINO_ARCH_AVR - -#ifdef ARDUINO_ARCH_ESP8266 -// to do: find suitable sleep function for esp8266 - t2 = micros() - t1; - if (t2 < _TASK_ESP8266_DLY_THRESHOLD) delay(1); // ESP8266 implementation of delay() uses timers and yield -#endif // ARDUINO_ARCH_ESP8266 - } -#endif // _TASK_SLEEP_ON_IDLE_RUN - - return (idleRun); -} - - - -#endif /* _TASKSCHEDULER_H_ */ diff --git a/Arduino/ems-light/ems-light.ino b/Arduino/ems-light/ems-light.ino deleted file mode 100755 index 26bc988..0000000 --- a/Arduino/ems-light/ems-light.ino +++ /dev/null @@ -1,3 +0,0 @@ -/* - * empty placeholder to keep the arduino preprocessor away from any real code - */ diff --git a/Arduino/ems-light/keywords.h b/Arduino/ems-light/keywords.h deleted file mode 100755 index 1cf39e1..0000000 --- a/Arduino/ems-light/keywords.h +++ /dev/null @@ -1,122 +0,0 @@ - -/*---------------------------------------------------------------------kewords.h - * Copyright 2012-2018 Donald Delmar Davis, Suspect Devices. All Rights Reserved - * - * !!!!!!!!!!!! ..... This may or may not be free software ..... !!!!!!!!!!!!!!! - * - * This file is autogenerated and while created by and needed for several open - * source modules the vocabulary is specific to the project and the routines - * referenced will be liscenced on a per project basis - *----------------------------------------------------------------------------*/ - -/*----------------------------- Monitor keywords-------------------------------- -* The idea here is to create an automation freindly monitor protocol and debug -* interfacse. Because this needs to be efficient (and flexible) I have chosen a -* very simple interface which will access and may manipulate the devices public -* variables. -* -* Basic Syntax for the monitor is -* XXX[?!:] <variable stuff> <CR> -* where: -* XXX is a 3 letter command or variable. -* ! execute command or store value -* ? request a value -* : value sent as a response or an update. -* simple example -* (reboot device) -* RST! -* (set red led value) -* RED!255 -* RED:255 -* (request pressure sensor, recieve sensor value -* note: unsolicited temperature sensor update ) -* PS1? -* PS1:1240.2 -* TS1:150.5 -* -*/ -#ifndef keywords_h -#define keywords_h - - -#define HELPTEXT \ -"SYN[! ]sync (hello) "\ -"ACK[ : ]acknowlege(yes) "\ -"NAK[ : ]negative (no) "\ -"SWV[ :?]Software Vers. "\ -"HWV[ :?]Hardware Vers. "\ -"GIT[ :?]GIT Repo Vers. "\ -"MEM[ :?]Avaliable Mem. "\ -"SSN[ :?]Unit Serial No. "\ -"HLP[ :?]help "\ -"FTL[!: ]Fatal Error "\ -"ALT[!: ]Alert "\ -"WAR[!: ]Warning "\ -"INF[!: ]Info "\ -"DBG[!: ]Debugging Info "\ -"LOG[!: ]Log "\ -"STC[!:?]State Change "\ -"DVL[!:?]Display Level "\ -"LVL[!:?]Log Level "\ -"RST[! ]Reboot "\ -"BLD[! ]Reboot to loader"\ -"STP[!:?]Sim/Chk E-Stop "\ -"CMD[!:?]Command Mode "\ -"NOW[!:?]Time as an int "\ -"TIM[!:?]Time for humans "\ -"MLD[!:?]Enable Multiline"\ -"SOD[!: ]Start Multiline "\ -"EOD[!: ]End Multiline "\ -"RED[!: ]Led (0-255) "\ -"AMT[ :?]Ambient Temp "\ -"AMH[ :?]Ambient Humidity"\ -"PX1[ :?]Proximity Sense "\ -"AD1[ :?]Analog Input 1 "\ -"AD2[ :?]Analog Input 2 "\ -"AD3[ :?]Analog Input 3 "\ -"AD4[ :?]Analog Input 4 "\ -"AD5[ :?]Analog Input 5 "\ -"AD6[ :?]Analog Input 6 "\ -"AD7[ :?]Analog Input 7 "\ -"AD8[ :?]Analog Input 8 "\ -"DI1[ :?]Digital Input 1 "\ -"DI2[ :?]Digital Input 2 "\ -"DI3[ :?]Digital Input 3 "\ -"DI4[ :?]Digital Input 4 "\ -"DI5[ :?]Digital Input 5 "\ -"DI6[ :?]Digital Input 6 "\ -"DI7[ :?]Digital Input 7 "\ -"DI8[ :?]Digital Input 8 "\ -"DO1[!:?]Digital Output 1"\ -"DO2[!:?]Digital Output 2"\ -"DO3[!:?]Digital Output 3"\ -"DO4[!:?]Digital Output 4"\ -"DO5[!:?]Digital Output 5"\ -"DO6[!:?]Digital Output 6"\ -"DO7[!:?]Digital Output 7"\ -"DO8[!:?]Digital Output 8"\ -"TMS[!:?]Timer Set "\ -"TMR[!:?]Timer Run(ing) "\ -"TRM[!:?]Time Remaining "\ -"NOP[!: ]Not implemented " - - -#define KEYWORDS \ -"SYN" "ACK" "NAK" "SWV" "HWV" "GIT" "MEM" "SSN" "HLP" "FTL" "ALT" "WAR" "INF" \ -"DBG" "LOG" "STC" "DVL" "LVL" "RST" "BLD" "STP" "CMD" "NOW" "TIM" "MLD" "SOD" \ -"EOD" "RED" "AMT" "AMH" "PX1" "AD1" "AD2" "AD3" "AD4" "AD5" "AD6" "AD7" "AD8" \ -"DI1" "DI2" "DI3" "DI4" "DI5" "DI6" "DI7" "DI8" "DO1" "DO2" "DO3" "DO4" "DO5" \ -"DO6" "DO7" "DO8" "TMS" "TMR" "TRM" "NOP" - - -enum keywordIndex { -_SYN_,_ACK_,_NAK_,_SWV_,_HWV_,_GIT_,_MEM_,_SSN_,_HLP_,_FTL_,_ALT_,_WAR_,_INF_, -_DBG_,_LOG_,_STC_,_DVL_,_LVL_,_RST_,_BLD_,_STP_,_CMD_,_NOW_,_TIM_,_MLD_,_SOD_, -_EOD_,_RED_,_AMT_,_AMH_,_PX1_,_AD1_,_AD2_,_AD3_,_AD4_,_AD5_,_AD6_,_AD7_,_AD8_, -_DI1_,_DI2_,_DI3_,_DI4_,_DI5_,_DI6_,_DI7_,_DI8_,_DO1_,_DO2_,_DO3_,_DO4_,_DO5_, -_DO6_,_DO7_,_DO8_,_TMS_,_TMR_,_TRM_,_NOP_}; - -// use enum to determine the size of the keyword arrays. -#define NKEYWORDS _NOP_ + 1 - -#endif |