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utility_functions.h
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utility_functions.h
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//
// nanoROTOR: utility_functions.hs
//
//
// Jan 22nd, 2023 - Michele (iv3ifz) & Bruno (iv3kyq)
//
#include <EEPROM.h> // EEPROM library, for non-volatile storage
#include <Wire.h> // I2C library
#include <LiquidCrystal_I2C.h> // LCD display library
// GLOBAL VARIABLES
// ----------------
// User interface
int GUI = 0; // 0 = AUTOMATIC MODE, 1 = MANUAL MODE, 2 = CALIBRATION
int STATUS = 0; // 0 = IDLE, 1 = READY, 2 = ROTATING
unsigned long lastInteraction = 0; // last time [ms] of user interaction
// For the knob (button/encoder)
int lastButtonState = 0; // previous state of the button
int longpressed = 0; // longpress in action (boolean)
unsigned long startPressed; // the moment the button was pressed [ms]
// For the actual motor control
unsigned long rotorAngle; // Init value for the "status" of the rotor (i.e. open-loop)
unsigned long desiredAngle; // Init value for the "desired" (i.e.target) status.
unsigned long rotorAngle_old; // Old value of the rotor angle (for LCD refresh)
unsigned long desiredAngle_old; // Old value of the desired angle (for LCD refresh)
unsigned long val; // temp variable for writing on EEPROM
int encoder_last_position = 0; // Last position of the knob encoder
int encoder_status_old = 0; // Past value of the knob status
int clockwise = 1; // 1: clockwise, -1: c-clockwise, 0: zeroing, x: quit MANUAL MODE
int clockwise_old; // 1 = clockwise, 0 = counter-clockwise (MANUAL MODE)
// Initialization of the LCD display
// set the LCD address to 0x27 for a 16 chars and 2 line display
LiquidCrystal_I2C lcd = LiquidCrystal_I2C(0x27, 16, 2);
// Custom symbols, done via https://maxpromer.github.io/LCD-Character-Creator/
uint8_t arrowUP[8] = {0x04, 0x0E, 0x1F, 0x04, 0x04, 0x04, 0x04, 0x04};
uint8_t arrowDN[8] = {0x04, 0x04, 0x04, 0x04, 0x04, 0x1F, 0x0E, 0x04};
uint8_t deg[8] = {0x08, 0x14, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00};
// FUNCTIONS PROTOTYPES
void boot_message(); // prints the boot/welcome message
void lcd_refresh(int, int); // refresh the LCD display (automatic mode)
void lcd_refresh_manual(int); // refresh the LCD display (manual mode)
void auto_event_handler(); // event handler for the automatic mode
void manual_event_handler(); // event handler for the manual mode
void checkButtonPress();
void updateState();
void callBackShortPress(unsigned long holdTime); // callback function for short press
void manual_event_handler();
int checkAbort();
//------------------------------------------------------------------------------
void boot_message() // prints the boot/welcome message
{
lcd.clear(); // clear the display
lcd.setCursor(0, 0); // set the cursor to the first line
lcd.print("nanoROTOR v. "); // print the name of the software and its version
lcd.print(VERSION); //
lcd.setCursor(0, 1); // set the cursor to the second line
lcd.print("IV2KYQ & IV3IFZ"); // print the name of the Authors
delay(2000); // wait 2 seconds, before proceeding
lcd.clear(); // clear the display
lcd.setCursor(0, 0); // set the cursor to the first line
return; // return to the main program
} // end boot_message()
//------------------------------------------------
void lcd_refresh(int status, int force)
{
// refresh the GUI, depending on the STATUS
// possibly "forcing it" (even when no change occurred)
char buffer[12]; // buffer for the sprintf function, LCD information
if (force) // The user has forced the refresh
lcd.clear(); // clear the display
// FIRST LINE OF THE LCD:
// UPDATE, ONLY IF NEEDED - UNLESS FORCED
if ((rotorAngle != rotorAngle_old) || (force))
{
lcd.setCursor(0, 0); // set the cursor to the first line
sprintf(buffer, "state: %03ld", rotorAngle); // prepare the string with the rotor angle
lcd.print(buffer); // print the current rotor angle
lcd.write(0); // Adds the "deg" character after the number
rotorAngle_old = rotorAngle; // update the old rotor angle
}
// SECOND LINE OF THE LCD:
// UPDATE, ONLY IF NEEDED (STATUS == 1 only) - UNLESS FORCED
if ((status == 1) && ((desiredAngle != desiredAngle_old) || (force)))
{
lcd.setCursor(0, 1); // set the cursor to the second line
sprintf(buffer, "target: %03ld", desiredAngle); // prepare the string with the desired angle
lcd.print(buffer); // print the current desired angle
lcd.write(0); // Adds the "deg" character after the number
desiredAngle_old = desiredAngle; // update the old desired angle
lastInteraction = millis(); // update the last interaction time
}
// when the motor is moving, the second line of the LCD is updated with a message
if (status == 2)
{
lcd.setCursor(0, 1); // set the cursor to the second line
lcd.print("[rotating....]"); // print the current desired angle
}
} // force_lcd_refresh()
void lcd_refresh_manual(int force)
{
char buffer[12]; // buffer for the sprintf function, LCD information
if (force) // The user has forced the refresh
lcd.clear(); // clear the display
if ((rotorAngle != rotorAngle_old) || (clockwise != clockwise_old) || (force))
{
lcd.setCursor(0, 0); // set the cursor to the first line
sprintf(buffer, "state: %03ld", rotorAngle); // prepare the string with the rotor angle
lcd.print(buffer); // print the current rotor angle
lcd.write(0); // Adds the "deg" character after the number
rotorAngle_old = rotorAngle; // update the old rotor angle
if (clockwise == 1)
{
lcd.setCursor(15, 0);
lcd.write(1); // This adds the "arrow up"
}
else if (clockwise == -1)
{
lcd.setCursor(15, 0);
lcd.write(2); // This adds the "arrow down"
}
else if (clockwise == 0)
{
lcd.setCursor(15, 0);
lcd.print("0"); // This adds the "zeroing symbol"
}
else
{
lcd.setCursor(15, 0);
lcd.print("x");
}
// set the cursor to the second line
lcd.setCursor(0, 1); // set the cursor to the second line
lcd.print("[manual mode]"); // print the current mode
}
} // end lcd_refresh_manual()
//------------------------------------------------
void auto_event_handler() // this function is repeatedly called in main loop()
{
// Declare local variables: note the use of "unsigned long" for the time variables!
unsigned long delta, t, t0, tdelta, rotorAngle_0;
int signDelta;
int tmp; // temporary variable
// Event handling, dep on the STATUS (i.e. 0 = IDLE, 1 = READY, 2 = ROTATING)
switch (STATUS)
{
case 0: // 'idle': do nothing. Refresh LCD (iff needed)
lcd_refresh(STATUS, 0); // refresh the (first line of the) LCD display, if needed
// lcd.noBacklight();
// TEST WHETHER THE KNOB HAS BEEN JUST TURNED LEFT OR RIGHT
if ((tmp = digitalRead(CLK_PIN)) == encoder_status_old) // reads the encoder state
{
STATUS = 1; // if the knob has been turned, then the new STATUS is 'ready'
desiredAngle = rotorAngle; // set the desired angle to the current rotor angle
encoder_status_old = tmp; // update the old state of the knob
lastInteraction = millis(); // update the last interaction time
}
break;
case 1: // status is 'ready' (i.e. awaken up by the knob!)
lcd_refresh(STATUS, 0); // refresh the (entire) LCD display with the current information
// lcd.backlight();
// CHECK FOR KNOB-TURNING EVENTS AND UPDATE THE desiredAngle accordingly
tmp = digitalRead(CLK_PIN); // reads the encoder state
if ((encoder_last_position == 0) && (tmp == HIGH))
{
if (digitalRead(DT_PIN) == LOW) // clockwise
{
if ((desiredAngle + STEP) > 360)
desiredAngle = 360;
else
desiredAngle = desiredAngle + STEP; // update the desired angle
}
else
{ // counter-clockwise
if (((float)desiredAngle - (float)STEP) < 0)
desiredAngle = 0;
else
desiredAngle = desiredAngle - STEP; // update the desired angle
}
lastInteraction = millis(); // update the last interaction time
}
encoder_last_position = tmp; // update the old state of the knob
if (((t = millis()) - lastInteraction) > 10000)
{ // more than 10s passed since last user "interaction"... go to IDLE
STATUS = 0; // go to IDLE
lcd_refresh(STATUS, 1); // force refresh of the (entire) LCD, do that only line 1 is displayed
lastInteraction = t; // update the last interaction time
}
// CHECK WHETHER THE BUTTON HAS BEEN PRESSED
checkButtonPress(); // check whether the button has been pressed for a short/long time
// if (!digitalRead(SW_PIN) == HIGH) // if the button is pressed
// {
// STATUS = 2; // go to 'moving' status
// }
break;
case 2: // status is 'moving'
digitalWrite(RELAY1, HIGH); // turn off the relays
digitalWrite(RELAY2, HIGH); // turn off the relays
// lcd.backlight();
delta = (desiredAngle > rotorAngle) ? desiredAngle - rotorAngle : rotorAngle - desiredAngle;
signDelta = (desiredAngle > rotorAngle) ? 1 : -1;
if (delta == 0)
{
STATUS = 1; // go to 'ready' status
break;
}
t0 = millis();
if (signDelta >= 0) // desired angle > current angle: turn clockwise
{
lcd.setCursor(15, 0);
digitalWrite(RELAY1, LOW); // only relay 1 is activated, when moving clockwise
lcd.write(1); // This adds the "deg" character after the number
}
else // desired angle < current angle: turn counter-clockwise
{
lcd.setCursor(15, 0);
digitalWrite(RELAY1, LOW); // both relays are activated
digitalWrite(RELAY2, LOW); // when moving counter-clockwise
lcd.write(2); // This adds the "deg" character after the number
}
lcd_refresh(STATUS, 0);
tdelta = (unsigned long)((float)delta / degPerMilli);
// delay(tdelta);
rotorAngle_0 = rotorAngle;
while ((t = millis()) <= (t0 + tdelta))
{
rotorAngle = rotorAngle_0 + signDelta * (unsigned long)((float)(t - t0) * degPerMilli);
// Serial.println(rotorAngle);
lcd_refresh(1, 0);
if (checkAbort())
{
digitalWrite(RELAY1, HIGH); // turn off the relays
digitalWrite(RELAY2, HIGH); // turn off the relays
lcd.clear(); // clear the display
lcd.setCursor(0, 0); // set the cursor to the first line
lcd.print("! Interrupted !"); // print the name of the software and its version
delay(1000);
break;
}
} // end while()
digitalWrite(RELAY1, HIGH); // turn off the relays
digitalWrite(RELAY2, HIGH); // turn off the relays
STATUS = 0;
lcd_refresh(STATUS, 1);
lastInteraction = millis();
}
} // end auto_event_handler()
void manual_event_handler()
{
unsigned long t0;
unsigned long rotorAngle_0;
int tmp; // temporary variable
lcd_refresh_manual(0);
// CHECK FOR KNOB-TURNING EVENTS AND UPDATE THE desiredAngle accordingly
tmp = digitalRead(CLK_PIN); // reads the encoder state
if ((encoder_last_position == 0) && (tmp == HIGH))
{
switch (clockwise)
{
case -2:
if (digitalRead(DT_PIN) == LOW) // clockwise
clockwise = -1;
else
clockwise = 1;
break;
case -1:
if (digitalRead(DT_PIN) == LOW) // clockwise
clockwise = 0;
else
clockwise = -2;
break;
case 0:
if (digitalRead(DT_PIN) == LOW) // clockwise
clockwise = 1;
else
clockwise = -1;
break;
case 1:
if (digitalRead(DT_PIN) == LOW) // clockwise
clockwise = -2;
else
clockwise = 0;
break;
}
}
encoder_last_position = tmp; // update the old state of the knob
rotorAngle_0 = rotorAngle;
t0 = millis();
if (clockwise == 1)
while (!digitalRead(SW_PIN))
{
rotorAngle = rotorAngle_0 + clockwise * (unsigned long)((float)(millis() - t0) * degPerMilli);
lcd_refresh_manual(0);
digitalWrite(RELAY1, LOW); // both relays are activated
}
else if (clockwise == -1)
while (!digitalRead(SW_PIN))
{
rotorAngle = rotorAngle_0 + clockwise * (unsigned long)((float)(millis() - t0) * degPerMilli);
lcd_refresh_manual(0);
digitalWrite(RELAY1, LOW); // both relays are activated
digitalWrite(RELAY2, LOW); // when moving counter-clockwise
}
else if (clockwise == 0)
while (!digitalRead(SW_PIN))
{
rotorAngle = 0;
lcd_refresh_manual(1);
}
else if (clockwise == -2)
while (!digitalRead(SW_PIN))
{
GUI = 0;
STATUS = 0;
lcd_refresh(STATUS, 1);
}
digitalWrite(RELAY1, HIGH); // both relays are activated
digitalWrite(RELAY2, HIGH); // when moving counter-clockwise
} // end manual_event_handler()
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
void checkButtonPress()
{
int buttonState; // current state of the button
buttonState = !digitalRead(SW_PIN); // i.e. buttonState == HIGH, if the button is pressed
if (buttonState != lastButtonState) // The button's state has changed!
{
updateState(); // This runs only once.
lastButtonState = buttonState; // save state for next loop
}
} // end checkButtonPress()
//--------------------------------------------------------------------------------------
//------------------------------------------------------------------------------
void updateState() // This runs only once.
{ // The button's state just changed (pressed/released)
unsigned long holdTime = 0; // how long the button was hold [ms]
int buttonState = !digitalRead(SW_PIN); // i.e. buttonState == HIGH, if the button is pressed
if (buttonState == HIGH) // current state of the button
startPressed = millis(); // I note down the current time, in msec
else // released
{
holdTime = millis() - startPressed; // I compute for how long it has been pressed
callBackShortPress(holdTime);
}
lastInteraction = millis(); // update the last interaction time
} // end updateState()
//--------------------------------------------------------------------------------------
//------------------------------------------------------------------------------
void callBackShortPress(unsigned long holdTime) // callback function
{
if (holdTime < 30.) // 30 ms is the *minimum* time for a debounced switch
{
Serial.println("--- SWITCH BOUNCING DETECTED --- : IGNORE");
STATUS = 0; // go back to 'idle' status
}
else if (holdTime < 500.) // 500 ms is the *max* time for a "short press"
{
Serial.println("Short-press! (<0.5s)");
STATUS = 2; // go from the 'idle' status to the 'moving' status
}
else if (holdTime <= 2000.) // 2 s is the *minimum* time for a "long press"
{ // Long press implies that the user wants to set the position to 0 deg
Serial.println("Longer-press! (<2s)");
desiredAngle = 0; // set the position to 0 deg
lcd_refresh(STATUS, 1); // forced update the LCD
delay(1000); // wait for 1 s before going to the 'moving' status
STATUS = 2; // go to 'moving' status
}
else if (holdTime > 5000.) // 5 s is the *minimum* time for a "very long press"
{ // implies that the user wants to switch to the 'manual' mode
Serial.println("Very Long-press! (>5s)");
GUI = 1; // GUI set to 'manual'
STATUS = 0; // go to 'idle' status
}
} // end callBackShortPress()
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
int checkAbort() // check if the user wants to abort the current moving operation
{
int buttonState = !digitalRead(SW_PIN); // current state of the button
if (buttonState != lastButtonState) // The button's state has changed!
{
return 1;
lastButtonState = buttonState;
}
else
return 0;
} // end checkAbort()
//------------------------------------------------------------------------------