NET3001 Fall 12. Assignment 6. Version: 1.0 Due: Nov 29, midnight

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1 Assignment 6 Version: 1.0 Due: Nov 29, midnight NET3001 Fall 12 Submitting: Use the submit.exe program. You may choose the names of the files that you submit, but the recommended names are: assign6.c motors.c motors.h lcd.c lcd.h radio.h radio.c accel.h accel.c In addition to the code files, you must submit drawings for all the tasks. Clearly mark each transition, label and describe each state, and describe what happens on the entry and exit from each state; label the diagram with the name of the state machine and your student number. [You will be expected to create drawings like this on the exam.] The transitions should be annotated with message names (not message numbers). Submit these drawings in PDF format. Even if a task is extremely simple and does not use a state machine, submit a diagram. Several requirements in this document are marked optional. These requirements may be omitted, and you will still be able to get full marks on the assignment. If you wish to implement them, only implement them after you have the base code functioning. This assignment will implement a model of several aspects of an electric car. You must write your program in the style of cooperative multitasking. The car has the following hardware: -a keyboard, with 12 keys, with functions assigned as shown below -a single key (buttona), which enables the alarm system -a 7 segment display, which shows the current volume setting for the audio system (including boost) -a blue LED which lights during cabin heating -a green LED which lights when the battery is >60% -a red LED which lights when the battery is <10% -a yellow LED which lights when the battery is between 10% and 60% -a white LED which acts as the equivalent of the speaker (for the hearing impaired) -a multi-colored LED which cycles through several colors, indicating the activity of the alarm system; it is also used to indicate programming mode for the defog system -a multi-line LCD display, which shows the current status of the system, and warnings -a blower motor for the windshield defog(use the DC motor) -a speedometer motor (use the stepper motor) -a vibration sensor (use the accelerometer) -a communications link to the steering wheel (COM port) -a beeper, which is used to confirm keystrokes and emits an alarm tone -a digital thermometer and heater -a wireless link, to locate nearby cars -a 2 key touchpad for a security lock -a joystick to adjust the volume and balance of the audio system

2 -a light sensor which emulates a solar collector for charging the car The keypad on the MTS2 board will be used with this overlay: actual size; cut it out if you wish These keys are referenced in this assignment as accel, upshift, park, brake, downshift, dock/charge, defog, temp down, temp up, time set, time step down and time step up * 0 # You must use the ASCII characters to code the keyboard. You must also use ASCII characters in your message system. These codes match up with the codes issued by the remote-control task below, so if you start using them from the beginning, that task will be easier. When you detect a key release, use the message '^'. Similarly, when the buttona is pressed, the message should be 'A'. When it is released, the message is 'a'. Write the software to make the system operate according to the following requirements: Drive Manager: (task 1) The motor of this car drives the wheels and creates motion. You will use several buttons to control the motion of the car, its speed and the condition of the battery The car has a transmission that can either be in neutral, drive, reverse or park. Once the car is in park, it can then be docked for charging. The neutral mode of the transmission disconnects the motor from the wheels and lets the motor free spin. The drive mode connects the motor to the wheels and causes forward motion; similarly, reverse connects the motor to the wheels in the opposite direction, and causes reverse motion. The park condition is similar to the neutral condition, but also locks the brakes to prevent motion. When docked, the wheels are locked and charging can occur. The upshift, downshift & park buttons control the transmission of the car. If the car is in neutral, pressing the upshift button changes the car into forward drive; if the car is in reverse, pressing the upshift button changes the car into neutral. If the car is in drive, the downshift button will change the car into neutral; if it's in neutral, a downshift will change it into reverse. If the car is in neutral, the park button will lock the wheels and change to the parked condition. Pressing park again will return the car to neutral. While in the parked condition, the dock button will start the charging process for the battery. See below. Pressing dock again will return the car to park. Other combinations are ignored: -if the car is in drive or reverse, the park button is ignored -if the car is in park, the upshift and downshift buttons are ignored -if the car is docked, only the dock key is effective

3 Whenever the car goes in or out of docked, it sends a message (MSG_DOCK, MSG_UNDOCK) to all the other tasks. Speed [Assign 6]The speed of this car can range from 0 to 175km/h. Create a global variable to hold the car's speed. To allow fine tuning, store a number between 0 and 175,000 to represent the speeds 0 to 175. That way, you can add a fractional value to the speed without having to use floating point numbers. Before you display the number, simply divide by 1,000 to get the real speed in km/h. [Assign 6] While the car is in drive or reverse, the accelerate and brake buttons control the speed of the car. The speed starts at 0, and increases by 10km/h for every 1.0 seconds that the accel button is pressed. Similarly, the speed decreases by 20km/h for every 1.0 seconds that the brake button is pressed. The speed must never go negative. [Assign 6] To do the math for the above paragraph, you can either do the math once per second (add 10,000 to the speed) or you can do it on every tick (add 10 or 1 to the speed). Battery & Charging The car is powered from a large battery that is charged when the car is docked. You can only change to docked when the car is in the parked state. The battery charge is represented to the user by a number between 0 and 100. In your program, store the battery as a number which is 1000 times larger than this; so the number you store in memory should be between 0 and 100,000. This will allow you to do math involving fractions of a percent. When showing the battery charge on the screen, make sure to divide by 1,000 first. While the car is docked for charging, any light falling on the light sensor can charge the battery. Take the reading (measureadc) from the light sensor. Take a reading every 1.0 seconds and increase the battery charge by the light measurement value. When the charge hits 100,000, don't increase it any more. [Assign 5] While the car is in drive, decrease the battery charge by 2000 for every 1.0 seconds that the car remains in drive. Similarly, decrease the battery charge by 2000 for every 1.0 seconds that the car is in reverse. [Assign 6] Decrease the battery charge by 2,000 for every 1.0 seconds that the accel button is pressed in either drive or reverse. And increase the battery charge by 1,000 for every 1.0 seconds that the brake pedal is pressed in drive or reverse and the speed is >0. Once again, make sure that the charge value stays between 0 and 100,000 inclusive. Charge LED's This task also manages three of the colored LED's. Light the green LED when the battery charge is over 60%. Light the red LED when the charge is less than 10%, and light the yellow LED in between. The LEDs need to be managed no matter what state the car is in. You should probably put the code for the LED logic into a subroutine that is called before or after the state code. [Assign 6] During charging, flash the LED slowly. During use, keep the LED on steady. [Assign6] Display the charge value on the LCD. [Optional] It would make sense that if there is no charge left in the battery, you cannot accelerate. You can add this check if you wish.

4 Speedometer Task (task 2) [Assign 6] [Assignment 6] While the car is moving, adjust the stepper motor to show the current speed. Zero kph is the vertical down position, and 100kph is the north-up position (speed == ). When the program first begins, you will need to move the stepper motor all the way counterclockwise. It makes sense to have a state for that. Once the stepper motor is properly aligned, you can change to an operating state where you constantly move the stepper motor to match the current speed. Sometimes you will be moving clockwise, other times counterclockwise and sometimes you will not need to move at all. Car Heater (task 3) This task manages the cabin heater for the car. For this task, we will work in 0.1 degrees C. So 24.5 degrees will be represented by 245. There are two buttons associated with managing the climate control in the car. The temp up and temp down buttons let the user adjust the set-point temperature. This is a number between 220 and 360. This task must turn on the heater when the temperature is below the set-point, and turn the heater off when the temperature is above the set-point. There is a note at the end of this assignment to show you can measure the real temperature. Since the heater is hard to see, turn on the blue LED while the heater is on. [Assignment 5] Make sure that when the heater turns on, it remains on at least 2 seconds before being turned off. [Assignment 6] We now introduce the concept of hysteresis. When the car temperature is below the set-point, turn the heater on until the temperature sensor reads 3 (0.3ºC) above the setpoint. While the heater is on, keep it on until the temperature sensor reads 3 (0.3ºC) below the setpoint. This should keep the unit from snapping on and off too quickly. Car Alarm (task 4) The car alarm system is part of the car. The alarm is normally off, but when the user presses the ArmAlarm button (ButtonA), the system enters a 5 second wait period, and then begins measuring the car for vibration. Any shock to the car will set off the alarm. Once the alarm has been triggered, you must press ArmAlarm button and hold it for 3 seconds. If the alarm has not been triggered, you can disarm the alarm by simply pressing ArmAlarm. You can disarm during the 5 second wait period, or any time the alarm is active-not-yet-triggered. To detect vibration, you can use the accelerometer (accel.c and accel.h) to read the current forces on the board. Normally, you will read 3 numbers like (1,0,64). When you enter the condition where you detecting vibration, take a reading of these three number. Then every 0.1 seconds from then on, measure again, and if the new readings are different by more than 2 units, that represents a vibration on the system. [Assign 6] The alarm system manages the multi-colored LEDs. It flashes the green in a pattern of ON(0.01 sec)/off(1.99 sec), to indicate that it is operating. If the system detects that the alarm button (buttona) is pressed, the alarm system is triggered, and the multi-colored LED should flash red in the pattern ON(0.4sec)/OFF(0.1sec) and this task should request the sound task to issue a continuous tone. The alarm system can be reset by pressing any other key.

5 The alarm system requires services from the sound manager. The alarm system should issue these messages: MSG_ALARM_ENABLED when the 5 second wait period is finished and the system starts checking for vibration MSG_ALARM_ACTIVE when vibration has been detected MSG_ALARM_OFF when the alarm has been reset [Assign 6 Hint] Don't forget to turn off the red and green LED's when you return to the alarm-disabled state. [Assign 6 optional] You can cancel an active alarm by pressing a certain sequence of keypresses on the LEFT and RIGHT touchpads. The sequence is LLRRLR. [Assign 6] The touchpad code will be developed in lab 10. The touchpad code should issue messages such as EVT_TOUCH_LEFT, EVT_TOUCH_RIGHT and EVT_TOUCH_RELEASE. Sound Manager: (task 5) There are two requirements for sound in this project, so we will need a sound manager. The most common task for the sound manager is to beep a short tone (30msec) for each key that is pressed (including ButtonA) to let the user know that the key was detected. This beep is also issued when the alarm system is enabled (MSG_ALARM_ENABLE). When the alarm is activated, the sound manager must create a long beep alert until the alarm has been reset. Here is an outline of the tones: key press alarm 30msec single tone 700msec tone on, 100msec off, repeat The messages that the sound manager will watch for are: keyboard events alarm enabled alarm activated, alarm cleared The sound manager does not need to issue any messages. The keyboard beeps are not required during the alarm state. If you cannot hear the speaker, light the white LED for the appropriate times listed above. Volume control (task 6) The car has a stereo system. The joystick can be used to adjust the volume [Assignment 5 and 6] and the left-right balance [Assignment 6 only]. To use the joystick, you call measureadc(2) and (3). If the measurement is between 1500 and 2500, the joystick is centered. If the measurement is outside those numbers, the joystick is up or down, left or right. Alternatively, you may measure the joystick at system startup, and check for variations from the idle position.

6 Chose a time period, and measure the joystick periodically. If the joystick is moved from center, adjust the volume or balance as required. The maximum volume is 9 and the minimum is 0. Check these limits and do not increment/decrement outside these limits. At startup, set the volume to 5. Display the current volume on the 7 segment display. [Assignment 6 optional] Monitor the microphone; it's on ADC channel 6. When you measure values that are more than 300 away from the average, the interior of the car is probably noisy. You should boost the volume setting by 2 to help the user hear the music. Once you've boosted the volume, keep it boosted until you get 3 seconds in a row of <300 deviation; then return the volume down 2 steps. While the volume is boosted, light the decimal point to inform the user. Clock (task 7) This task keeps track of the time, and displays it. The user can set the real time in this system by pressing the clock button. Just display Hours:Minutes:Seconds, don't bother with the date. You may choose 12hour-am/pm format or 24 hour format as you wish. The user is given a display of the current time. When the user pressed the clock button, the system allows the user to change the time. By pressing the CLK+ / CLK- buttons, the user can set the hours. When the user presses the clock button, the system changes to setting the minutes. Again, the CLK+ and CLK- buttons allow the user to scroll through the possible minutes. When the users presses clock a third time, the system returns to normal operation with the time changed to the new time. You must update the display as the user is setting the time. It might be good to include a color change on the hours or minutes as you are changing them. Window Defog (task 8) When the inside of the windows build up with fog, the car has a defog blower to pass warm air across the inner surface, which removes the visible fog (or frost). The DC motor represents that blower. By default, the defog motor should operate for 5 seconds. When the user presses the defog button, start the DC motor spinning. If the user releases the button before 1.5 seconds, let the defog motor continue to spin until the preset time has passed, then turn it off. If the user continues to hold the button longer than 1.5 seconds, this task should enter the programming mode. Light the blue part of the multi-colored LED. Continue to monitor the button until it is released; measure how long the button was held down. Use this as the new motor time. Turn off the blue LED and the motor. The next time the user presses the defog button, operate the motor for this new time. Once again, you probably want to store the time in terms of the number of TICK's you counted, in order to avoid having to use fractions. Wireless (task 9) [Assign 6] [Assign6] Use a task to continuously broadcast your name (any string up to 16 chars). Send it out every second. You should change the color of one or two pixels on the screen every time you send a wireless packet, to show activity.

7 Watch for messages from the wireless library, and display any incoming text on the LCD. Design a state machine so that any message is displayed for 2 seconds. After 2 seconds, you should clear that part of the screen and wait for the next message. If the next message is the same as the previous message, you should ignore it for 10 seconds. Your states are therefore: IDLE, DISPLAYING, WAIT_FOR_DIFFERENT. To see if two strings are the same, you can use the code in the appendix. Diagnostics (task 10) [Assign 6] This task simply keeps track of the usage of the system. It should keep a count of: the total number of keystrokes that the system received highest and lowest temperature that the system has encountered the number of times the defog motor was operated the number of times the car was docked Store these data in global variables called: tkeys, tmaxtemp, tmintemp and tdefogcount. When tkeys exceeds 100, turn on the red LED. If the user presses the park button 3 times in a row, reset all t* counters above, and turn off the red LED. This task does not require a state diagram. Remote Control & Monitoring (task 11; optional) [Assign 6] To allow this vehicle to be operated by a disabled person, the driver can control the system from buttons on the steering wheel, as well as see the gear setting and the current speed on the dashboard. To implement this function, the car (this assignment) is connected to the dashboard system through the serial port. You can emulate this by sending and receiving commands with HyperTerm or any serial communication package. To send commands to the car, the dashboard system sends the following single keys: 1 accel 2 upshift 3 park 4 brake 5 downshift 6 dock 7 defog 8 temp- 9 temp+ * time set 0 time- # time+ Each time a key is received, the system monitor task (this task) should respond with a single. to confirm. Every 15 seconds, the system monitor task should send the current status, in the form of a string like one of these: "G:fwd S:8 C:26" followed by a carriage return (G:gear, S:nnn is speed, C:ttt is battery charge) "V:8 B:-5" followed by a carriage return (V: n is volume, B:xx is balance) "D:12" followed by a carriage return (D:xx is defog time, in 1/10th of a second) "T:28 H:27" followed by a carriage return (T:xx is real temperature, H:xx is desired temperature)

8 "A:arm" followed by a carriage return (radio and disc are both off) The communications interface is designed to match the keyboard. When this task receives a character on the serial port, it should simply create a message and give it to the dispatcher. The possible phrases for Gear are fwd, rev, neu, prk, dck. The possible phrases for Alarm are idl, arm,!a!.

9 Resources Display The LCD display shows several kinds of data. You should break down the area of the LCD into different zones for the different tasks. Here is my suggested layout: lines color usage 1-16 white on red title bar black on blue transmission state: drive, rev, neut, park, dock speed battery charge white on blue desired temperature current temperature heater on/off white on green defog on-time yellow on blue clock, clock set black on yellow wireless information white on red alarm status In order to display the degree symbol on the LCD screen, you may use this format string in your code: lcdprintf(x,y,"temp: %d\x7f" "C",temperature); This LCD is fairly slow: small text writes at about.4msec/char. So I recommend that you limit the amount of text that you write to the screen to ~10 characters at a time. Any more than that will slow down the system and interfere with event/message delivery. For example, if you want a line to say: Track #1 consider sending this once at power on: lcdprintf(1,40,"track #"); and then when you need to change the track number, just send this: lcdprintf(1,56,"%d ",tracknumber); If you add an extra space character after the %d, it will erase any extra digits that show up after you print a 2 digit number followed by a 1 digit number. Event/Message Design For timing, I recommend an EVT_TICK, which happens 100 times per second. This is useful for moving the stepper motor, and timing the beeper. If you wish, you may run your system at 1000 ticks

10 per second, but make sure to document this, so that we can mark your project appropriately. If you do decide to run this fast, make sure your event queue is big enough to handle a stack of EVT_TICK's. You may want to consider issuing a EVT_ONE_SEC, which happens only once per second. This makes it easy to count out the timer for the updating the clock, the display and a few other things. Feel free to use any of the timer techniques discussed in class. Comparing Strings To see if two strings are identical, you can use strcmp(). This returns a 0 if they match, non-0 if they don't match. For example, if (strcmp(newradiomsg, oldradiomsg)!= 0) { addtodisplay(newradiomsg); strcpy(oldradiomsg, newradiomsg); // and anything else you may need to do... } The other string services you can use are: strcpy(char* dest, const char* source) copies from source to dest int strcmp(const char* s1, const char* s2) int strlen(const char* source) strcat(char* dest, const char* source) memmove(char* dest, const char* src, int n) returns 0 if strings are identical, non-0 otherwise returns the number of non-0 bytes in source adds the source string to the end of dest copies n bytes from src to dest These are all available to you after you add to your project: #include <string.h> Sound All the sound in this project can be based on a 1KHz tone, which you can get by setting: TIM1->PSC = 7; // count at 1MHz TIM1->CCER = 0x1000; // channel 4 output enabled TIM1->CCMR2 = 0x3000; // channel 4 toggles on match TIM1->ARR = 500; // count down the 1MHz to 2kHz TIM1->BDTR = 0x8000; // master enable for timer 1 To start the tone, simply set TIM1->CR1 = 1; And to stop the tone, set TIM1->CR1 = 0; // tone on // tone off

11 Measuring Temperature You can measure the temperature with the following code: dint(); v = measureadc(17); t = measureadc(5); eint(); t = *t/v t = (t-40000)/195; // measures the voltage reference on board // measures the temperature sensor // 1 bit = 10uV // 1 bit = 0.1 degrees C Because the keyboard is running at the interrupt level, it may grab the ADC (analog to digital converter) at any time, and interfere a temperature measurement. To prevent this, you can wrap the temperature measurement in a dint()/eint() pair, which locks out the keyboard and the timer for a very short period of time. This technique is called critical section. The variable t above is 10 times the real temperature in degrees C. Of course, the above code should be in a subroutine. Accelerometer To use the accelerometer, simply include accel.h and accel.c into your project. This chip measures the gravity or inertial force on it, in terms of x, y and z components. Each of these is an 8 bit signed char, representing +/- 2G. -2G is represented by G is represented by -64 0G is 0 +1G is represented by G is represented by +127 Since there is always 1G of gravity, one of the components will be +64. Call accelinit(); once after you have set up the other hardware. Call acceldata(); anytime you wish. It returns a 32 bit number; these 32 bits can be represented as: zzzz.zzzz.yyyy.yyyy.xxxx.xxxx To extract the z bits from this word, you can use this code: signed char x,y,z; unsigned int adata = acceldata(); z = (adata >> 16) & 0xFF; // extract the z bits You can write your own code to extract the y and x bits. COM Port (UART) The setup code for the UART is PADDR_HIGH &= 0xFFFFF00F; // turn off bits 9/10 PADDR_HIGH = 0x ; // set bit 9 to uart-tx USART1->BRR = (26<<4) 2; // set 19.2 kbaud USART1->CR1 = 0x200C; // 3 enables: master, rx & tx The system remote-control & monitor task should check the serial port several times a second. Here is some code you can use if you are checking it in task code:

12 if (USART1->SR & 0x20) { // check the data ready bit k = USART1->DR; // read the char from uart-rx USART1->SR &= ~0x20; // turn off the data ready bit //... do something with k } Alternatively, if you want to use interrupts, here is some code you can use: add this to the init code: USART1->CR1 = 0x20; // enable rx interrupt void uart_isr(void) { newevent(usart1->dr); // make an event out of the char USART1->SR &= ~0x20; //ack interrupt: turn off the data ready } // and add an entry to vector table at 0x D4 To send a character through the UART, simply drop it into the DR USART1->DR = something; // send data out the uart-tx Unfortunately, you can only put two bytes in a row into the UART before it's clogged. It takes 500usec to send each byte, so after putting two bytes in, you'll have to either wait 1msec, or check to see if the UART is ready for the next byte: if (USART1->SR & 0x80) { // check if UART is ready to send USART1->DR = something; // send data out the uart-tx } General Notes This is a complicated assignment. 1. Use the operating system framework that you built in lab 8/9. 2. Plan out what events & messages you will need. 3. Then design each task, starting with the state diagram. You have to hand this in anyway, you might as well use it. 4. Code up each task, and add it to the framework. Debug each task as it is added. If you need to create fake messages for testing, you can use one of the keys to generate the fake message, just until you get your system debugged. 5. You may wish to put each task into a separate.c file. 6. If there are state transitions that are not described in the text above, add them in a way that you would like to see your own car operate.