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Aquarium.qm
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Aquarium.qm
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<?xml version="1.0" encoding="UTF-8"?>
<model version="4.0.1" links="0">
<documentation>Aquarium control with Arduino UNO
Explanation:
There is an operational state and an emergency state.
In the operational state the water can be drained if the temperature becomes to high.
Is the low level reached the aquarium will be filled up to the high level.
Whenever the water leak sensor detects lost of water underneath the aquarium the control switches in the emergency state and everything goes off.
The aquarium control has to be restarted.
The transitional events can come from the SerialTerm (e = emergency, t = temperature, l = level low, h = level high) or the switches connected to the input pins.
Because the internal pullup resistors of the input pins is used, the logic is inverse.
The actions goes to the output pins and the SerialTerm.
The states are also printed to SerialTerm.</documentation>
<framework name="qpn"/>
<package name="AOs" stereotype="0x02">
<class name="Aquarium" superclass="qpn::QActive">
<statechart>
<initial target="../1">
<initial_glyph conn="3,3,5,1,33,4,-2">
<action box="0,-2,4,2"/>
</initial_glyph>
</initial>
<state name="operationalState">
<entry brief="MAIN_WATER_SUPPLY_VALVE_on">BSP_showState("operationalState");
BSP_signalValves(MAIN_WATER_SUPPLY_VALVE_on);</entry>
<exit brief="MAIN_WATER_SUPPLY_VALVE_off">BSP_signalValves(MAIN_WATER_SUPPLY_VALVE_off);</exit>
<initial target="../2">
<initial_glyph conn="4,12,5,1,22,4,-2">
<action box="0,-2,4,2"/>
</initial_glyph>
</initial>
<tran trig="WATER_LEAK_SENSOR" target="../../2">
<tran_glyph conn="2,44,3,1,34,4,-12">
<action box="0,-2,19,2"/>
</tran_glyph>
</tran>
<state name="sleepModeState">
<entry>BSP_showState("sleepModeState");</entry>
<tran trig="TEMPERATURE_SENSOR" target="../../3">
<tran_glyph conn="4,20,3,1,26,4,-2">
<action box="0,-2,20,2"/>
</tran_glyph>
</tran>
<state_glyph node="4,14,20,7">
<entry box="1,2,4,2"/>
</state_glyph>
</state>
<state name="waterDrainState">
<entry brief="WATER_DRAIN_VALVE_on">BSP_showState("waterDrainState");
BSP_signalValves(WATER_DRAIN_VALVE_on);</entry>
<exit brief="WATER_DRAIN_VALVE_off">BSP_signalValves(WATER_DRAIN_VALVE_off);</exit>
<tran trig="LOW_LEVEL_SENSOR" target="../../4">
<tran_glyph conn="4,30,3,1,26,4,-2">
<action box="0,-2,18,2"/>
</tran_glyph>
</tran>
<state_glyph node="4,22,24,9">
<entry box="1,2,23,2"/>
<exit box="1,4,22,2"/>
</state_glyph>
</state>
<state name="waterFillState">
<entry brief="WATER_FILL_VALVE_on">BSP_showState("waterFillState");
BSP_signalValves(WATER_FILL_VALVE_on);</entry>
<exit brief="WATER_FILL_VALVE_off">BSP_signalValves(WATER_FILL_VALVE_off);</exit>
<tran trig="HIGH_LEVEL_SENSOR" target="../../2">
<tran_glyph conn="4,40,3,1,28,-22,-8">
<action box="0,-2,19,2"/>
</tran_glyph>
</tran>
<state_glyph node="4,32,24,9">
<entry box="1,2,21,2"/>
<exit box="1,4,21,2"/>
</state_glyph>
</state>
<state_glyph node="2,5,32,40">
<entry box="1,2,28,2"/>
<exit box="1,4,28,2"/>
</state_glyph>
</state>
<state name="emergencyState">
<entry brief="EMERGENCY_LIGHT_on">BSP_showState("emergencyState");
BSP_signalValves(EMERGENCY_LIGHT_on);</entry>
<state_glyph node="2,46,22,6">
<entry box="1,2,21,2"/>
</state_glyph>
</state>
<state_diagram size="38,54"/>
</statechart>
</class>
</package>
<directory name=".">
<file name="Aquarium.ino">
<text>#include "qpn.h" // QP-nano framework
#include "Arduino.h" // Arduino API
//============================================================================
// events used in this application...
enum AquariumSignals {
WATER_LEAK_SENSOR_SIG = Q_USER_SIG, // water leakage is detected
TEMPERATURE_SENSOR_SIG, // water temperature is to high
LOW_LEVEL_SENSOR_SIG, // water level low is reached
HIGH_LEVEL_SENSOR_SIG // water level high is reached
};
//============================================================================
// declare all AO classes...
$declare(AOs::Aquarium)
//...
// define all AO instances and event queue buffers for them...
Aquarium AO_Aquarium;
static QEvt l_aquariumQSto[10]; // Event queue storage for Aquarium
//...
//============================================================================
// QF_active[] array defines all active object control blocks ----------------
QMActiveCB const Q_ROM QF_active[] = {
{ (QMActive *)0, (QEvt *)0, 0U },
{ (QMActive *)&AO_Aquarium, l_aquariumQSto, Q_DIM(l_aquariumQSto) }
};
//============================================================================
// Board Support Package (BSP)
enum BSP_ValvesSignal { // valve signals ...
EMERGENCY_LIGHT_on,
MAIN_WATER_SUPPLY_VALVE_on,
MAIN_WATER_SUPPLY_VALVE_off,
WATER_DRAIN_VALVE_on,
WATER_DRAIN_VALVE_off,
WATER_FILL_VALVE_on,
WATER_FILL_VALVE_off
};
// various other constants for the application...
enum {
BSP_TICKS_PER_SEC = 100, // number of system clock ticks in one second
// the pin number of the on-board input
WATER_LEAK_SENSOR = 2,
TEMPERATURE_SENSOR = 3,
LOW_LEVEL_SENSOR = 4,
HIGH_LEVEL_SENSOR = 5,
// the pin number of the on-board output
EMERGENCY_LIGHT = 6,
MAIN_WATER_SUPPLY_VALVE = 7,
WATER_DRAIN_VALVE = 8,
WATER_FILL_VALVE = 9,
};
//............................................................................
void BSP_signalValves(enum BSP_ValvesSignal sig) {
switch (sig) {
case EMERGENCY_LIGHT_on:
Serial.println(F("EMERGENCY_LIGHT_on"));
digitalWrite(EMERGENCY_LIGHT, HIGH);
break;
case MAIN_WATER_SUPPLY_VALVE_on:
Serial.println(F("MAIN_WATER_SUPPLY_VALVE_on"));
digitalWrite(MAIN_WATER_SUPPLY_VALVE, HIGH);
break;
case MAIN_WATER_SUPPLY_VALVE_off:
Serial.println(F("MAIN_WATER_SUPPLY_VALVE_off"));
digitalWrite(MAIN_WATER_SUPPLY_VALVE, LOW);
break;
case WATER_DRAIN_VALVE_on:
Serial.println(F("WATER_DRAIN_VALVE_on"));
digitalWrite(WATER_DRAIN_VALVE, HIGH);
break;
case WATER_DRAIN_VALVE_off:
Serial.println(F("WATER_DRAIN_VALVE_off"));
digitalWrite(WATER_DRAIN_VALVE, LOW);
break;
case WATER_FILL_VALVE_on:
Serial.println(F("WATER_FILL_VALVE_on"));
digitalWrite(WATER_FILL_VALVE, HIGH);
break;
case WATER_FILL_VALVE_off:
Serial.println(F("WATER_FILL_VALVE_off"));
digitalWrite(WATER_FILL_VALVE, LOW);
break;
}
}
//............................................................................
void BSP_showState(char const *state) {
Serial.print(F("State->"));
Serial.println(state);
}
//............................................................................
void setup() {
// initialize the QF-nano framework
QF_init(Q_DIM(QF_active));
// initialize all AOs...
QActive_ctor(&AO_Aquarium.super, Q_STATE_CAST(&Aquarium_initial));
// initialize the hardware used in this sketch...
// set the sensor pins to input and activate the internal pullup resistor
pinMode(WATER_LEAK_SENSOR, INPUT_PULLUP);
pinMode(TEMPERATURE_SENSOR, INPUT_PULLUP);
pinMode(LOW_LEVEL_SENSOR, INPUT_PULLUP);
pinMode(HIGH_LEVEL_SENSOR, INPUT_PULLUP);
// set the EMERGENCY_LIGHT pin to output
pinMode(EMERGENCY_LIGHT, OUTPUT);
// set the valve pins to outputs
pinMode(MAIN_WATER_SUPPLY_VALVE, OUTPUT);
pinMode(WATER_DRAIN_VALVE, OUTPUT);
pinMode(WATER_FILL_VALVE, OUTPUT);
Serial.begin(115200); // set the highest standard baud rate of 115200 bps
Serial.print(F("Start, QP-nano version: "));
Serial.println(QP_VERSION);
Serial.println("");
Serial.println(F("Aquarium control"));
Serial.println("");
}
//............................................................................
void loop() {
QF_run(); // run the QP-nano application
}
//============================================================================
// interrupts...
ISR(TIMER2_COMPA_vect) {
QF_tickXISR(0); // process time events for tick rate 0
// read inputs over Serial
if (Serial.available() > 0) {
switch (Serial.read()) { // read the incoming byte
// events are posted directly instead of publishing
case 'e':
case 'E':
QACTIVE_POST_ISR((QMActive *)&AO_Aquarium, WATER_LEAK_SENSOR_SIG, 0U);
break;
case 't':
case 'T':
QACTIVE_POST_ISR((QMActive *)&AO_Aquarium, TEMPERATURE_SENSOR_SIG, 0U);
break;
case 'l':
case 'L':
QACTIVE_POST_ISR((QMActive *)&AO_Aquarium, LOW_LEVEL_SENSOR_SIG, 0U);
break;
case 'h':
case 'H':
QACTIVE_POST_ISR((QMActive *)&AO_Aquarium, HIGH_LEVEL_SENSOR_SIG, 0U);
break;
}
}
// read the digital inputs
// low active because of the internal pullup resistor
// events are posted directly instead of publishing
if (digitalRead(WATER_LEAK_SENSOR) == LOW) {
QACTIVE_POST_ISR((QMActive *)&AO_Aquarium, WATER_LEAK_SENSOR_SIG, 0U);
}
else if (digitalRead(TEMPERATURE_SENSOR) == LOW) {
QACTIVE_POST_ISR((QMActive *)&AO_Aquarium, TEMPERATURE_SENSOR_SIG, 0U);
}
else if (digitalRead(LOW_LEVEL_SENSOR) == LOW) {
QACTIVE_POST_ISR((QMActive *)&AO_Aquarium, LOW_LEVEL_SENSOR_SIG, 0U);
}
else if (digitalRead(HIGH_LEVEL_SENSOR) == LOW) {
QACTIVE_POST_ISR((QMActive *)&AO_Aquarium, HIGH_LEVEL_SENSOR_SIG, 0U);
}
}
//============================================================================
// QP-nano callbacks...
void QF_onStartup(void) {
// set Timer2 in CTC mode, 1/1024 prescaler, start the timer ticking...
TCCR2A = (1U << WGM21) | (0U << WGM20);
TCCR2B = (1U << CS22 ) | (1U << CS21) | (1U << CS20); // 1/2^10
ASSR &= ~(1U << AS2);
TIMSK2 = (1U << OCIE2A); // enable TIMER2 compare Interrupt
TCNT2 = 0U;
// set the output-compare register based on the desired tick frequency
OCR2A = (F_CPU / BSP_TICKS_PER_SEC / 1024U) - 1U;
}
//............................................................................
void QV_onIdle(void) { // called with interrupts DISABLED
// Put the CPU and peripherals to the low-power mode. You might
// need to customize the clock management for your application,
// see the datasheet for your particular AVR MCU.
SMCR = (0 << SM0) | (1 << SE); // idle mode, adjust to your project
QV_CPU_SLEEP(); // atomically go to sleep and enable interrupts
}
//............................................................................
void Q_onAssert(char const Q_ROM * const file, int line) {
// implement the error-handling policy for your application!!!
QF_INT_DISABLE(); // disable all interrupts
QF_RESET(); // reset the CPU
}
//============================================================================
// define all AO classes (state machines)...
$define(AOs::Aquarium)
//...
</text>
</file>
</directory>
</model>