scottp
295abb37ee
Firmware for an autonomous wave-measurement buoy (ATmega2560-based WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU, samples GPS and battery state, and reports back over Iridium SBD satellite telemetry. Originally developed 2012-2024. This is the first public release. Code, documentation, and field-tested operating modes (Capture, Sleep, Position, ManualTest, SelfTest, LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE. See README.md for an overview and build instructions, CONTRIBUTING.md for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
137 lines
4.6 KiB
C++
137 lines
4.6 KiB
C++
// SPDX-License-Identifier: Apache-2.0
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// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
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//
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// This file is part of WII5 Buoy firmware.
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// See LICENSE for full terms.
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/**
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* @file WII5Controller.h
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* @brief Main controller: mode dispatch, watchdog, and the top-level loop.
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*/
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#ifndef WII5Controller_h
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#define WII5Controller_h
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#include <Arduino.h>
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#include <WII5.h>
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/**
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* @brief Top-level firmware controller.
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*
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* Owns the main loop(), watchdog tick, and dispatch to the active mode
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* (Capture / Sleep / Position / ManualTest / SelfTest / LowBattery).
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* Also tracks SD-card hand-off, the shared 5V rail, and "last hello" state
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* used by mode transitions.
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*/
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class WII5Controller : public WII5 {
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public:
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virtual WII5_CONTROLLERS controllerId() {return WII5CONTROLLER_CONTROLLER;}
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/** @brief One-time bring-up: zero counters, call mode-class begin()s, enable WDT. */
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void begin();
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/** @brief Spin in loopSafe() / loopWDT() for `waits` milliseconds. */
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void safeDelay(uint32_t waits);
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/** @brief Current run-time mode. */
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WII5_MODES getMode();
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/** @brief Switch mode; returns false if the transition was rejected. */
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bool setMode(WII5_MODES newMode, bool nodelay = false);
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/** @brief Reset to the EEPROM-configured default mode. */
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void setDefaultMode();
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/** @brief Move to whatever calculateCurrentMode() returns right now. */
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void setCurrentMode();
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/** @brief Compute the mode the buoy should be in given clock + battery + temp overrides. */
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WII5_MODES calculateCurrentMode();
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/** @brief Compute the persistent default mode from EEPROM configuration. */
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WII5_MODES calculateDefaultMode();
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/** @brief Disable both SD-card chip selects. */
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void setSDOff();
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/** @brief Hand SD card 1 to the AVR side. */
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void setSD1();
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/** @brief Hand SD card 2 to the AVR side. */
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void setSD2();
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/** @brief Which SD card is currently selected (0/1/2). */
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uint8_t getSD();
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/** @brief Enable the shared 5V rail (used by GPS, Iridium, Sparton, etc.). */
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void shared5On();
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/** @brief Disable the shared 5V rail. */
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void shared5Off();
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/** @brief Record that a peer device replied to a Hello. */
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void setLastHello(WII5_PORTS p, WII5_DEVICES d);
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/** @brief Has device `d` been heard from within the last `msOld` ms? */
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bool checkLastHello(WII5_DEVICES d, uint32_t msOld);
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// TODO These should not be contains ! Why dynamic generate?
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// - Move them global - use #define instead
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WII5ModeSleep *modeSleep;
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WII5ModeCapture *modeCapture;
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WII5ModeLowBattery *modeLowBattery;
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WII5ModeManualTest *modeManualTest;
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WII5ModePosition *modePosition;
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WII5ModeSelfTest *modeSelfTest;
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/** @brief Main tick: runs WDT, the safe loop, and dispatches the active mode. */
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void loop();
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/** @brief Minimal-cost loop: console, buttons, Iridium, Communications. */
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void loopSafe();
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/** @brief Heavier-cost loop: Sparton, GPS, Battery, Weather, etc. */
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void loopOther();
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/** @brief Pet the watchdog (external pin and/or AVR internal WDT). */
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void loopWDT();
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/** @brief Print a one-line summary of controller state to the console. */
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void dump();
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/** @brief Print the long-form `@Status` block to the console (human=true for human-readable). */
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void statusDump(bool human = false);
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/** @brief Tri-state both SD chip-select lines. */
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void disableChipSelect();
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time_t lastHelloReceived;
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WII5_PORTS lastHelloPort;
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WII5_DEVICES lastHelloDevice;
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elapsedMillis lastHelloElapsed;
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bool tempDisableWDT;
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// Uptime in minutes - manually updated by minnute counter
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uint32_t uptime;
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protected:
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uint8_t currentSD;
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// Used in status calculate
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uint32_t next;
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uint16_t size;
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uint32_t period;
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elapsedMillis minuteWait;
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elapsedMillis delayWait;
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elapsedMillis wdtWait;
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// Main mode, and a mode for each of the sub modes
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elapsedMillis modeWait;
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WII5_MODES mode;
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WII5_MODES lastMode;
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// TODO how to get all last mode data and swtich back after tempo
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time_t modeUntil;// TODO ?
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// TODO Data to store
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// - Location, Date & Time - inside WII5GPS
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// . Captured directly inside module
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// . wii5GPS.status - ON, OFF, BUSY, ERROR
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// . wii5GPS.error - Error object = time, number, string
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// - Iridium Status - Inside WII5Iridium
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// . Captured directly inside module
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// - Maths Status - Either WII5Maths or WII5Controller
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// . Captured via Console and processed in Controller
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// - Capture Status - Inside WII5Capture
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// -
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};
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extern WII5Controller wii5Controller;
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#endif
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