/****************************************************************************
remote13.c (SWITCH VERSION)
USE AT YOUR OWN RISK!
This program is a remote control for Raytheon's Autohelm ST4000 autopilot using the
Seatalk(tm) network protocol. It also switches the Raytheon instrument lamps on
and off.
The following Seatalk protocol is extracted from Thomas Knauf's web site:
www.thomasknauf.de/seatalk.htm
Message protocol
* Each message contains between 3 and 18 characters:
* COMMAND byte (the only byte with the command-bit set)
ATTRIBUTE byte, specifying the total length of the message in the least significant nibble:
Most significant 4 bits: 0 or part of a data value
Least significant 4 bits: Number of additional bytes beyond the mandatory data byte
DATA byte (mandatory, meaning than the smallest message is 3 bytes)
DATA bytes (optional, up to 15 additional data bytes, meaning that longest messages is 18 bytes)
Serial Data Transmission
11 bits are transmitted for each byte:
* 1 Start bit (0V)
* 8 Data Bits (least significant bit transmitted first, bit ON = +12V)
* 1 Command/Data bit (+12V if command byte, 0V if other)
* 1 Stop bit (+12V)
Collision Management
Bus should be idle for at least 2mS (+12V for at least 10/4800 seconds).
Listens to it's own transmission and recognizes when its message has
been corrupted by a second talker. In this case it abandons the remaining
bytes in the message, waits for the bus to become free again, and then
retransmits the whole message.
LAMP INTENSITY CODES
------------------------------
30 00 00 Lamp off
30 00 0C Lamp full on
KEYSTROKE CODES
------------------------------
86 11 01 FE AUTO
86 11 02 FD STANDBY
86 11 03 FC TRACK
86 11 05 FA -1
86 11 06 F9 -10
86 11 07 F8 +1
86 11 08 F7 +10
86 11 09 F6 Set Response Level 1
86 11 0A F5 Set Response Level 2
+5 +5
| |
14 4
----------
+1 ----6-| |-17-- out to Seatalk (transistor driver)
-1 ----7-| |-18-- in from Seatalk (transistor buffer)
+10 ----8-| |-1--- out to piezo beeper
-10 ----9-| |
Stby ---10-| 16F84 |
Auto ---11-| |
Track ---12-| |
Lamp/Resp-13-| |
4MHz XTAL-15-| |
XTAL-16-| |
----------
5
|
Gnd
***************************************************************************/
/* The following include should contain 16F84 or 16F628. */
#include < 16F628.h >
#if __device__==84
#fuses XT, NOPROTECT, PUT, WDT
#endif
/* The following has to be 627 for the 628 (compiler error?) */
#if __device__==627
#fuses XT, NOPROTECT, PUT, WDT, BROWNOUT, NOMCLR, NOLVP
#endif
#include < jonsinc.h >
#use fast_io ( A )
#use standard_io ( B )
#use delay ( clock = 4000000, restart_wdt )
#byte PORT_A = 5
#byte PORT_B = 6
#bit TX_OUT = PORT_A.0
#bit RX_IN = PORT_A.1
#bit BEEP_OUT = PORT_A.2
#define CAL_LOC 0
#define SW_PLUS_ONE PIN_B0
#define SW_MINUS_ONE PIN_B1
#define SW_PLUS_TEN PIN_B2
#define SW_MINUS_TEN PIN_B3
#define SW_TRACK PIN_B4
#define SW_AUTO PIN_B5
#define SW_STANDBY PIN_B6
#define SW_LAMP_RESP PIN_B7
#define RESP_AUTO 0x09
#define RESP_TIGHT 0x0A
#define TACK_PORT 0x21
#define TACK_STBD 0x22
#define LAMP_OFF 0x00
#define LAMP_ON 0x0C
#define PLUS_ONE 0x07
#define MINUS_ONE 0x05
#define PLUS_TEN 0x08
#define MINUS_TEN 0x06
#define STANDBY 0x02
#define AUTOM 0x01
#define TRACK 0x03
#define PITCH_MIN 3
#define PITCH_MAX 200
#define DEBOUNCE_DELAY 100
#rom 0x2100 = { PITCH_MIN }
void SendKeystrokeMsg ( char cData );
void SendLampMsg ( char cX );
char SendByte ( char cError, char cCommand, char cData );
char SendBit ( cBit );
void CheckBus ( void );
void Beep ( char cCnt );
static char cLampState, cResponseState, cCal;
void main ( void )
{
char cX, cDir;
TX_OUT = LOW; // allow output to float
BEEP_OUT = LOW;
set_tris_a ( 0b11111010 ); // A0, A2 are outputs, A1 is input
setup_counters ( RTCC_INTERNAL, WDT_2304MS ); // 256 * 4uS = 1.024mS timer wrap
port_b_pullups ( TRUE );
cLampState = LAMP_OFF;
cResponseState = RESP_AUTO;
// Piezo calibration routine
if ( ( input ( SW_STANDBY ) == LOW ) && ( input ( SW_TRACK ) == LOW ) )
{
cCal = PITCH_MIN;
while ( ( input ( SW_STANDBY ) == LOW ) || ( input ( SW_TRACK ) == LOW ) )
{
restart_wdt();
Beep ( 3 );
if ( input ( SW_STANDBY ) == LOW ) // decending pitch
{
if ( cCal < PITCH_MAX )
{
cCal++;
}
}
if ( input ( SW_TRACK ) == LOW ) // ascending pitch
{
if ( cCal > PITCH_MIN )
{
cCal--;
}
}
}
write_eeprom ( CAL_LOC, cCal );
}
else // or normal operation
{
cCal = read_eeprom ( CAL_LOC );
for ( cX = 0; cX < 20; cX++ )
{
Beep ( 1 );
}
}
while ( TRUE ) // do forever
{
restart_wdt();
if ( input ( SW_PLUS_ONE ) == LOW ) // if switch pressed
{
Beep ( 1 );
for ( cX = 0; cX < 255; cX++ ) // check how long switch is pressed
{
if ( input ( SW_PLUS_ONE ) == HIGH )
{
break; // jump out when switch released
}
delay_ms ( 4 );
}
if ( cX < 255 ) // if less than one second
{
SendKeystrokeMsg ( PLUS_ONE );
}
else
{
Beep ( 5 );
for ( cX = 0; cX < 5; cX++ )
{
SendKeystrokeMsg ( PLUS_ONE );
}
}
while ( input ( SW_PLUS_ONE ) == LOW ) // wait until switch up
{
delay_ms ( DEBOUNCE_DELAY );
}
}
if ( input ( SW_MINUS_ONE ) == LOW ) // if switch pressed
{
Beep ( 1 );
for ( cX = 0; cX < 255; cX++ ) // check how long switch is pressed
{
if ( input ( SW_MINUS_ONE ) == HIGH )
{
break; // jump out when switch released
}
delay_ms ( 4 );
}
if ( cX < 255 ) // if less than one second
{
SendKeystrokeMsg ( MINUS_ONE );
}
else
{
Beep ( 5 );
for ( cX = 0; cX < 5; cX++ )
{
SendKeystrokeMsg ( MINUS_ONE );
}
}
while ( input ( SW_MINUS_ONE ) == LOW ) // wait until switch up
{
delay_ms ( DEBOUNCE_DELAY );
}
}
if ( input ( SW_PLUS_TEN ) == LOW ) // if switch pressed
{
Beep ( 1 );
for ( cX = 0; cX < 255; cX++ ) // check how long switch is pressed
{
if ( input ( SW_PLUS_TEN ) == HIGH )
{
break; // jump out when switch released
}
delay_ms ( 4 );
}
if ( cX < 255 ) // if less than one second
{
SendKeystrokeMsg ( PLUS_TEN );
}
else
{
Beep ( 5 );
SendKeystrokeMsg ( TACK_STBD );
}
while ( input ( SW_PLUS_TEN ) == LOW ) // wait until switch up
{
delay_ms ( DEBOUNCE_DELAY );
}
}
if ( input ( SW_MINUS_TEN ) == LOW ) // if switch pressed
{
Beep ( 1 );
for ( cX = 0; cX < 255; cX++ ) // check how long switch is pressed
{
if ( input ( SW_MINUS_TEN ) == HIGH )
{
break; // jump out when switch released
}
delay_ms ( 4 );
}
if ( cX < 255 ) // if less than one second
{
SendKeystrokeMsg ( MINUS_TEN );
}
else
{
Beep ( 5 );
SendKeystrokeMsg ( TACK_PORT );
}
while ( input ( SW_MINUS_TEN ) == LOW ) // wait until switch up
{
delay_ms ( 25 );
}
}
if ( input ( SW_STANDBY ) == LOW ) // if switch pressed
{
Beep ( 1 );
SendKeystrokeMsg ( STANDBY );
while ( input ( SW_STANDBY ) == LOW ) // wait until switch up
{
delay_ms ( DEBOUNCE_DELAY );
}
}
if ( input ( SW_AUTO ) == LOW ) // if switch pressed
{
Beep ( 1 );
SendKeystrokeMsg ( AUTOM );
while ( input ( SW_AUTO ) == LOW ) // wait until switch up
{
delay_ms ( DEBOUNCE_DELAY );
}
}
if ( input ( SW_TRACK ) == LOW ) // if switch pressed
{
Beep ( 1 );
SendKeystrokeMsg ( TRACK );
while ( input ( SW_TRACK ) == LOW ) // wait until switch up
{
delay_ms ( DEBOUNCE_DELAY );
}
}
if ( input ( SW_LAMP_RESP ) == LOW ) // if switch pressed
{
Beep ( 1 );
for ( cX = 0; cX < 255; cX++ ) // check how long switch is pressed
{
if ( input ( SW_LAMP_RESP ) == HIGH )
{
break; // jump out when switch released
}
delay_ms ( 4 );
}
if ( cX < 255 ) // if less than one second
{
if ( cLampState == LAMP_OFF )
{
cLampState = LAMP_ON;
}
else
{
cLampState = LAMP_OFF;
}
SendLampMsg ( cLampState );
}
else
{
Beep ( 5 );
if ( cResponseState == RESP_AUTO )
{
cResponseState = RESP_TIGHT;
}
else
{
cResponseState = RESP_AUTO;
}
SendKeystrokeMsg ( cResponseState );
}
while ( input ( SW_LAMP_RESP ) == LOW ) // wait until switch up
{
delay_ms ( DEBOUNCE_DELAY );
}
}
}
}
void SendKeystrokeMsg ( char cData )
{
char cError;
do {
CheckBus(); //wait for bus to be idle
cError = SendByte ( NO, YES, 0x86 ); // command: keystroke
cError = SendByte ( cError, NO, 0x11 ); // data: remote control, 1 extra byte (4 total)
cError = SendByte ( cError, NO, cData ); // data: PlusOne key
cError = SendByte ( cError, NO,~cData ); // data: inverted data
} while ( cError == YES ); // repeat if message was corrupted
}
void SendLampMsg ( char cX )
{
char cError;
do {
CheckBus(); //wait for bus to be idle
cError = SendByte ( NO, YES, 0x30 ); // command: lamp
cError = SendByte ( cError, NO, 0x00 ); // data: 00
cError = SendByte ( cError, NO, cLampState ); // data: lamp state
} while ( cError == YES ); // repeat if message was corrupted
}
char SendByte ( char cError, char cCommand, char cData )
{
char cX;
if ( cError != YES )
{
cError = SendBit ( HIGH ); // start bit (0V)
for ( cX = 0; cX < 8; cX++ )
{
cError = SendBit ( ~cData & 0x01 ); // LSB data bit
cData >>= 1; // shift right
}
cError = SendBit ( cCommand ? LOW : HIGH ); // set if command byte, clear if data byte
cError = SendBit ( LOW ); // stop bit (+12V)
}
return ( cError );
}
char SendBit ( cBit )
{
char cX, cY;
// this code adjusted to give 208uS bit times (4800 baud)
TX_OUT = cBit; // send bit to output
for ( cX = 0; cX < 5; cX++ )
{
delay_us ( 15 );
if ( RX_IN == !cBit ) // check if output bit is corrupted by another talker
{
return ( HIGH ); // return collision error
}
}
return ( LOW ); // return no error
}
void CheckBus ( void )
{
char cX;
for ( cX = 0; cX < 255; cX++ ) // assumes output is floating to +12V for ~5mS
{
if ( RX_IN == HIGH ) // check if output bit is corrupted by another talker
{
cX = 0; // reset count to zero
restart_wdt(); // CCS compiler doesn't put CLRWDT into short delay_us, apparently
}
delay_us ( 7 );
}
}
void Beep ( char cCnt )
{
char cX, cY;
for ( cY = 0; cY < cCnt; cY++ )
{
for ( cX = 0; cX < ( 30 + ( PITCH_MAX / cCal ) ); cX++ )
{
BEEP_OUT = HIGH;
delay_us ( cCal );
delay_us ( cCal );
delay_us ( cCal );
BEEP_OUT = LOW;
delay_us ( cCal );
delay_us ( cCal );
delay_us ( cCal );
}
delay_ms ( 30 );
}
}