main.cpp File Reference

#include <Arduino.h>
#include <Ethernet.h>
#include <EthernetUdp.h>
#include <SPI.h>
#include <daq-protocol.h>
#include <esp_mac.h>
#include <cstring>
#include "actuator_board_pins.h"

Include dependency graph for main.cpp:

Go to the source code of this file.

Classes
struct	PWMState

Functions
void	initializeActuators ()
void	processActuatorCommand (const std::vector< daq::ActuatorCommand > &commands)
void	processPWMActuatorCommand (const std::vector< daq::PWMActuatorCommand > &commands)
void	updatePWM ()
void	readCurrentSensePins ()
void	sendSensorDataPacket (const daq::SensorDataChunkCollection &chunk)
void	setup ()
void	loop ()

Variables
const unsigned long	ADC_READ_INTERVAL_MS
byte	mac [6]
IPAddress	staticIP (192, 168, 2, 202)
IPAddress	gateway (0, 0, 0, 0)
IPAddress	subnet (255, 255, 255, 0)
IPAddress	dns (192, 168, 2, 1)
const int	udpPort = 5005
IPAddress	receiverIP (192, 168, 2, 20)
const int	receiverPort = 5006
EthernetUDP	udp
uint8_t	actuator_states [NUM_ACTUATORS]
PWMState	pwm_states [NUM_ACTUATORS]
const uint8_t	NUM_SENSORS = NUM_ACTUATORS
unsigned long	lastAdcReadTime = 0

Function Documentation

initializeActuators()

void initializeActuators

(

)

Definition at line 194 of file main.cpp.

References actuator_states, digitalWrite(), actuator_board_pins::getActuatorPin(), LOW, actuator_board_pins::NUM_ACTUATORS, OUTPUT, pinMode(), pwm_states, and Serial.

Referenced by setup().

loop()

void loop

(

)

Definition at line 130 of file main.cpp.

References daq::ACTUATOR_COMMAND, ADC_READ_INTERVAL_MS, commands, lastAdcReadTime, MAX_PACKET_SIZE, millis(), packetBuffer, daq::parse_actuator_command_packet(), daq::parse_pwm_actuator_packet(), processActuatorCommand(), processPWMActuatorCommand(), daq::PWM_ACTUATOR_COMMAND, readCurrentSensePins(), Serial, udp, and updatePWM().

processActuatorCommand()

void processActuatorCommand

(

const std::vector< daq::ActuatorCommand > &

commands

)

Definition at line 229 of file main.cpp.

References active, actuator_states, array_index(), commands, digitalWrite(), actuator_board_pins::getActuatorPin(), HIGH, LOW, actuator_board_pins::NUM_ACTUATORS, pwm_states, and Serial.

Referenced by loop().

processPWMActuatorCommand()

void processPWMActuatorCommand

(

const std::vector< daq::PWMActuatorCommand > &

commands

)

Definition at line 282 of file main.cpp.

References actuator_states, array_index(), commands, actuator_board_pins::getActuatorPin(), millis(), actuator_board_pins::NUM_ACTUATORS, pwm_states, and Serial.

Referenced by loop().

readCurrentSensePins()

void readCurrentSensePins

(

)

Definition at line 372 of file main.cpp.

References analogRead(), chunk, actuator_board_pins::getCurrentSensePin(), millis(), NUM_SENSORS, sendSensorDataPacket(), and Serial.

Referenced by loop().

sendSensorDataPacket()

void sendSensorDataPacket

(

const daq::SensorDataChunkCollection &

chunk

)

Definition at line 406 of file main.cpp.

References chunk, chunks, daq::create_sensor_data_packet(), MAX_PACKET_SIZE, millis(), NUM_SENSORS, packetBuffer, receiverIP, receiverPort, Serial, and udp.

setup()

void setup

(

void

)

Definition at line 56 of file main.cpp.

References actuator_board_pins::Actuator_Board, delay(), dns, Ethernet, gateway, actuator_board_pins::getCurrentSensePin(), HEX, initializeActuators(), INPUT, mac, NUM_SENSORS, pinMode(), Serial, staticIP, subnet, udp, and udpPort.

updatePWM()

void updatePWM

(

)

Definition at line 347 of file main.cpp.

References active, actuator_states, digitalWrite(), actuator_board_pins::getActuatorPin(), LOW, millis(), actuator_board_pins::NUM_ACTUATORS, pwm_states, and Serial.

Referenced by loop().

Variable Documentation

actuator_states

uint8_t actuator_states[NUM_ACTUATORS]

Definition at line 31 of file main.cpp.

ADC_READ_INTERVAL_MS

const unsigned long ADC_READ_INTERVAL_MS

Initial value:

=
    1000

Definition at line 15 of file main.cpp.

dns

IPAddress dns(192, 168, 2, 1)	(	192	,
		168	,
		2	,
		1	)

gateway

IPAddress gateway(0, 0, 0, 0)	(	0	,
		0	,
		0	,
		0	)

lastAdcReadTime

unsigned long lastAdcReadTime = 0

Definition at line 45 of file main.cpp.

Referenced by loop().

mac

byte mac[6]

Definition at line 19 of file main.cpp.

NUM_SENSORS

const uint8_t NUM_SENSORS = NUM_ACTUATORS

Definition at line 44 of file main.cpp.

pwm_states

PWMState pwm_states[NUM_ACTUATORS]

Definition at line 41 of file main.cpp.

Referenced by initializeActuators(), initializePWMStates(), processActuatorCommand(), processActuatorCommands(), processPWMActuatorCommand(), processPWMActuatorCommand(), updatePWM(), and updatePWM().

receiverIP

IPAddress receiverIP(192, 168, 2, 20)	(	192	,
		168	,
		2	,
		20	)

Referenced by loop(), printBoardInfo(), sendExampleMessage(), sendHeartbeatPacket(), sendSensorDataPacket(), sendSensorDataPacket(), and setup().

receiverPort

const int receiverPort = 5006

Definition at line 26 of file main.cpp.

Referenced by loop(), printBoardInfo(), sendExampleMessage(), sendHeartbeatPacket(), sendSensorDataPacket(), sendSensorDataPacket(), and setup().

staticIP

IPAddress staticIP(192, 168, 2, 202)	(	192	,
		168	,
		2	,
		202	)

subnet

IPAddress subnet(255, 255, 255, 0)	(	255	,
		255	,
		255	,
		0	)

udp

EthernetUDP udp

Definition at line 27 of file main.cpp.

udpPort

const int udpPort = 5005

Definition at line 24 of file main.cpp.

Referenced by setup().