81 lines
2.0 KiB
C++
Executable File
81 lines
2.0 KiB
C++
Executable File
/*
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* watchdog.h
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*
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* Created on: Nov 12, 2017
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* Author: azisi
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*/
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#ifndef WATCHDOG_H_
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#define WATCHDOG_H_
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#include <avr/wdt.h>
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#include "globals.h"
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#include "easycomm.h"
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#include "rotator_pins.h"
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class wdt_timer{
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public:
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void watchdog_init() {
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cli();
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wdt_reset();
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WDTCSR |= _BV(WDCE) | _BV(WDE);
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WDTCSR = _BV(WDIE) | _BV(WDE) | _BV(WDP3) | _BV(WDP2) | _BV(WDP1);
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sei();
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}
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void watchdog_reset() {
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wdt_reset();
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}
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};
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ISR(WDT_vect) {
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/* Disable motors */
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digitalWrite(MOTOR_EN, LOW);
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/* Set error */
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rotator.rotator_error = wdt_error;
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rotator.rotator_status = error;
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sei();
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while (1) {
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wdt_reset();
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/*Serial*/
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char buffer[BUFFER_SIZE];
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char incomingByte;
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static uint16_t BufferCnt = 0;
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String str1, str2, str3, str4, str5, str6;
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/*Read from serial*/
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while (rs485.available() > 0) {
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incomingByte = rs485.read();
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/*new data*/
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if (incomingByte == '\n') {
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buffer[BufferCnt] = 0;
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if (buffer[0] == 'G' && buffer[1] == 'S') {
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str1 = String("GS");
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str2 = String(rotator.rotator_status, DEC);
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str3 = String("\n");
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rs485.print(str1 + str2 + str3);
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} else if (buffer[0] == 'G' && buffer[1] == 'E') {
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str1 = String("GE");
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str2 = String(rotator.rotator_error, DEC);
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str3 = String("\n");
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rs485.print(str1 + str2 + str3);
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} else if (buffer[0] == 'R' && buffer[1] == 'B') {
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while(1);
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}
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BufferCnt = 0;
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rs485.flush();
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} else {
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/*Fill the buffer with incoming data*/
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buffer[BufferCnt] = incomingByte;
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BufferCnt++;
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}
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}
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wdt_reset();
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}
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}
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#endif /* WATCHDOG_H_ */
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