main.cpp File Reference

#include <Arduino.h>
#include <Ethernet.h>
#include <EthernetUdp.h>
#include <SPI.h>
#include <STAR_EthernetOTA.h>
#include <Wire.h>
#include <daq-protocol.h>
#include <esp_mac.h>
#include <cstring>
#include <vector>
#include "firmware_hash.h"
#include "hotfire_config.h"
#include "sense_config.h"

Include dependency graph for main.cpp:

Go to the source code of this file.

Macros
#define	BOARD_ID   61
	ProtoEncoder Hotfire — dual AS5600 encoder board.

Enumerations
enum class	State : uint8_t { Setup = 1 , SelfTest = 10 , Active = 2 }

Functions
static bool	i2cReadBytes (TwoWire &bus, uint8_t reg, uint8_t *buf, uint8_t len)
static uint16_t	readRawAngle (TwoWire &bus)
static bool	checkMagnetPresence (TwoWire &bus, const char *label)
static bool	testEncoderComms (TwoWire &bus)
static void	runSelfTest ()
static void	sendDataChunks ()
static daq::BoardState	currentBoardState ()
static void	sendHeartbeat ()
void	setup ()
void	loop ()

Variables
static constexpr int	ENC1_SDA = 4
static constexpr int	ENC1_SCL = 5
static constexpr int	ENC2_SDA = 15
static constexpr int	ENC2_SCL = 7
static constexpr int	ETH_MOSI = 11
static constexpr int	ETH_MISO = 13
static constexpr int	ETH_SCLK = 12
static constexpr int	ETH_CS = 10
static constexpr uint8_t	AS5600_ADDR = 0x36
static constexpr uint8_t	REG_STATUS = 0x0B
static constexpr uint8_t	REG_RAW_MSB = 0x0C
static constexpr uint8_t	STATUS_MH = 0x08
static constexpr uint8_t	STATUS_ML = 0x10
static constexpr uint8_t	STATUS_MD = 0x20
static constexpr uint16_t	READ_ERROR = 0xFFFF
static constexpr uint8_t	SENSOR_ID_ENC1 = 1
static constexpr uint8_t	SENSOR_ID_ENC2 = 2
static constexpr uint8_t	NUM_SENSORS = 2
static constexpr int	ENCODER_PACKET_BUF_SIZE = 512
static constexpr int	UDP_LISTEN_PORT = 5005
static State	boardState = State::Setup
static byte	mac [6]
static IPAddress	staticIP
static IPAddress	gateway (0, 0, 0, 0)
static IPAddress	subnet (255, 255, 255, 0)
static IPAddress	dns_addr (192, 168, 2, 1)
static IPAddress	serverIP (192, 168, 2, HOTFIRE_SERVER_IP_OCTET_4)
static constexpr int	serverPort = HOTFIRE_SERVER_PORT
static EthernetUDP	udp
static StarOTA::Server	otaServer (HOTFIRE_OTA_PORT)
static std::vector< daq::SensorDataChunkCollection >	dataChunks
static unsigned long	lastHeartbeatMs = 0

Macro Definition Documentation

BOARD_ID

#define BOARD_ID   61

ProtoEncoder Hotfire — dual AS5600 encoder board.

Minimal state machine: Setup -> SelfTest -> Active. In Setup, sends SETUP heartbeats and waits for any SENSOR_CONFIG packet. In SelfTest, probes each encoder over I2C, sends a SELF_TEST packet, then transitions to Active. In Active, streams encoder data continuously.

Definition at line 23 of file main.cpp.

Enumeration Type Documentation

State

enum class State : uint8_t

strong

Enumerator
Setup
SelfTest
Active

Definition at line 72 of file main.cpp.

Function Documentation

checkMagnetPresence()

bool checkMagnetPresence ( TwoWire & bus, const char * label )

static

Definition at line 116 of file main.cpp.

References delay(), i2cReadBytes(), millis(), REG_STATUS, Serial, start(), STATUS_MD, STATUS_MH, and STATUS_ML.

currentBoardState()

daq::BoardState currentBoardState ( )

static

Definition at line 228 of file main.cpp.

References daq::ACTIVE, Active, boardState, daq::SELF_TEST, SelfTest, daq::SETUP, and Setup.

Referenced by sendHeartbeat().

i2cReadBytes()

bool i2cReadBytes ( TwoWire & bus, uint8_t reg, uint8_t * buf, uint8_t len )

static

Definition at line 96 of file main.cpp.

References AS5600_ADDR, and reg.

loop()

void loop

(

)

Definition at line 312 of file main.cpp.

References Active, BOARD_HEARTBEAT_INTERVAL_MS, boardState, chunk, dataChunks, delay(), lastHeartbeatMs, LOOP_DELAY_MS, millis(), NUM_SENSORS, otaServer, StarOTA::printTestMessage(), READ_ERROR, readRawAngle(), runSelfTest(), SelfTest, sendDataChunks(), sendHeartbeat(), daq::SENSOR_CONFIG, SENSOR_ID_ENC1, SENSOR_ID_ENC2, SENSOR_MAX_CHUNKS_BEFORE_SEND, Serial, Setup, and udp.

readRawAngle()

uint16_t readRawAngle ( TwoWire & bus )

static

Definition at line 109 of file main.cpp.

References i2cReadBytes(), READ_ERROR, and REG_RAW_MSB.

runSelfTest()

void runSelfTest ( )

static

Definition at line 167 of file main.cpp.

References Active, boardState, daq::create_self_test_packet(), ENCODER_PACKET_BUF_SIZE, millis(), SENSOR_ID_ENC1, SENSOR_ID_ENC2, Serial, serverIP, serverPort, testEncoderComms(), and udp.

Referenced by loop().

sendDataChunks()

void sendDataChunks ( )

static

Definition at line 209 of file main.cpp.

References daq::create_sensor_data_packet(), dataChunks, ENCODER_PACKET_BUF_SIZE, millis(), NUM_SENSORS, SENSOR_MAX_CHUNKS_BEFORE_SEND, serverIP, serverPort, and udp.

Referenced by loop().

sendHeartbeat()

void sendHeartbeat ( )

static

Definition at line 241 of file main.cpp.

References BOARD_ID, daq::create_board_heartbeat_packet(), currentBoardState(), ENCODER_PACKET_BUF_SIZE, FirmwareHash::get(), millis(), daq::SAFE, serverIP, serverPort, and udp.

Referenced by abortFinish(), loop(), mainloop(), setup(), and standardAbort().

setup()

void setup

(

void

)

Definition at line 263 of file main.cpp.

References BOARD_ID, checkMagnetPresence(), delay(), dns_addr, ENC1_SCL, ENC1_SDA, ENC2_SCL, ENC2_SDA, ETH_CS, ETH_MISO, ETH_MOSI, ETH_SCLK, Ethernet, ETHERNET_BEGIN_DELAY_MS, ETHERNET_INIT_DELAY_MS, ETHERNET_SPI_DELAY_MS, gateway, HOTFIRE_OTA_PORT, IPAddress, mac, otaServer, FirmwareHash::print(), Serial, serverIP, serverPort, staticIP, subnet, udp, and UDP_LISTEN_PORT.

testEncoderComms()

bool testEncoderComms ( TwoWire & bus )

static

Definition at line 162 of file main.cpp.

References i2cReadBytes(), and REG_STATUS.

Referenced by runSelfTest().

Variable Documentation

AS5600_ADDR

uint8_t AS5600_ADDR = 0x36

staticconstexpr

Definition at line 50 of file main.cpp.

boardState

State boardState = State::Setup

static

Definition at line 73 of file main.cpp.

Referenced by currentBoardState(), loop(), provideAbortData(), runSelfTest(), and sendHeartbeat().

dataChunks

std::vector<daq::SensorDataChunkCollection> dataChunks

static

Definition at line 89 of file main.cpp.

dns_addr

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

static

Referenced by setup().

ENC1_SCL

int ENC1_SCL = 5

staticconstexpr

Definition at line 35 of file main.cpp.

Referenced by setup().

ENC1_SDA

int ENC1_SDA = 4

staticconstexpr

Definition at line 34 of file main.cpp.

Referenced by setup().

ENC2_SCL

int ENC2_SCL = 7

staticconstexpr

Definition at line 39 of file main.cpp.

Referenced by setup().

ENC2_SDA

int ENC2_SDA = 15

staticconstexpr

Definition at line 38 of file main.cpp.

Referenced by setup().

ENCODER_PACKET_BUF_SIZE

int ENCODER_PACKET_BUF_SIZE = 512

staticconstexpr

Definition at line 66 of file main.cpp.

Referenced by runSelfTest(), sendDataChunks(), and sendHeartbeat().

ETH_CS

int ETH_CS = 10

staticconstexpr

Definition at line 45 of file main.cpp.

ETH_MISO

int ETH_MISO = 13

staticconstexpr

Definition at line 43 of file main.cpp.

ETH_MOSI

int ETH_MOSI = 11

staticconstexpr

Definition at line 42 of file main.cpp.

ETH_SCLK

int ETH_SCLK = 12

staticconstexpr

Definition at line 44 of file main.cpp.

gateway

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

static

lastHeartbeatMs

unsigned long lastHeartbeatMs = 0

static

Definition at line 90 of file main.cpp.

Referenced by loop().

mac

byte mac[6]

static

Definition at line 78 of file main.cpp.

NUM_SENSORS

uint8_t NUM_SENSORS = 2

staticconstexpr

Definition at line 61 of file main.cpp.

otaServer

StarOTA::Server otaServer(HOTFIRE_OTA_PORT) ( HOTFIRE_OTA_PORT )

static

READ_ERROR

uint16_t READ_ERROR = 0xFFFF

staticconstexpr

Definition at line 56 of file main.cpp.

REG_RAW_MSB

uint8_t REG_RAW_MSB = 0x0C

staticconstexpr

Definition at line 52 of file main.cpp.

REG_STATUS

uint8_t REG_STATUS = 0x0B

staticconstexpr

Definition at line 51 of file main.cpp.

SENSOR_ID_ENC1

uint8_t SENSOR_ID_ENC1 = 1

staticconstexpr

Definition at line 59 of file main.cpp.

Referenced by loop(), and runSelfTest().

SENSOR_ID_ENC2

uint8_t SENSOR_ID_ENC2 = 2

staticconstexpr

Definition at line 60 of file main.cpp.

Referenced by loop(), and runSelfTest().

serverIP

IPAddress serverIP(192, 168, 2, HOTFIRE_SERVER_IP_OCTET_4) ( 192 , 168 , 2 , HOTFIRE_SERVER_IP_OCTET_4  )

static

serverPort

int serverPort = HOTFIRE_SERVER_PORT

staticconstexpr

Definition at line 84 of file main.cpp.

staticIP

IPAddress staticIP

static

Definition at line 79 of file main.cpp.

STATUS_MD

uint8_t STATUS_MD = 0x20

staticconstexpr

Definition at line 55 of file main.cpp.

STATUS_MH

uint8_t STATUS_MH = 0x08

staticconstexpr

Definition at line 53 of file main.cpp.

STATUS_ML

uint8_t STATUS_ML = 0x10

staticconstexpr

Definition at line 54 of file main.cpp.

subnet

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

static

udp

EthernetUDP udp

static

Definition at line 86 of file main.cpp.

UDP_LISTEN_PORT

int UDP_LISTEN_PORT = 5005

staticconstexpr

Definition at line 67 of file main.cpp.

Referenced by setup().