CIP Statemachine - Arduino

• Install the Eclipse IDE for C/C++ Developers (C/C++ Development Tool) www.eclipse.org/downloads
• Install the Actifsource Enterprise plugin
• The Arduino SDK contains all the necessary source code for your Arduino
• Installing the com port driver for your Arduino

Arduino Software Setup

• Download your Arduino SDK from www.arduino.cc

• Unzip the Arduino SDK on your hard disk

  • We use C:\arduino-1.0.3\ in this example

• Plugin your Arduino to a USB port

  • The installation will fail

• Open the Device Manager from the Control Panel

• Find the failed device

• Install new driver

• Search the driver on your computer

• Specify C:\arduino-1.0.3\drivers as the place to look for the driver

  • Warning: You must not select C:\arduino-1.0.3\drivers\FTDI USB Drivers

• Check if the driver has been installed correctly

• Important: Remember the com port

  • COM3 in this example

• Open the boards.txt file in C:\arduino-1.0.3\hardware\arduino

• Print the information for your hardware platform

  • Arduino Uno in this example

• For Linux you can simply install gcc-avr avr-libc avrdude:

sudo apt-get install gcc-avr avr-libc avrdude

AVR Eclipse Plugin

• The AVR Plugin (for this tutorial version 2.4.1 will be used)for Eclipse is an extension to the C/C++ Development Toolkit to support development for the Atmel AVR series of embedded processors.
• Configure the AVR Plugin for your Arduino board

• Start your Eclipse with a new workspace

  • workspace_arduino in this example

• In your Eclipse, click Help/Install new Software…

• Add the AVR-Eclipse plugin update site avr-eclipse.sourceforge.net

• Installing the plugin requires eclipse to restart

• Configure the AVR Eclipse Plugin under Windows/Preferences/AVR/Paths
• Set AVR-GCC to custom value C:\arduino-1.0.3\hardware\tools\avr\bin or /usr/bin
• Set GNU make to custom value C:\arduino-1.0.3\hardware\tools\avr\utils\\bin or /usr/bin
• Set SVR-GCC to custom value C:\arduino-1.0.3\hardware\tools\avr\avr\\include or /usr/lib/avr/include
• Set SVR-GCC to custom value C:\arduino-1.0.3\hardware\tools\avr\bin or /usr/bin
• Important: Press Apply

• Setup a new C/C++ project
• Write a very simple code which switches an LED on and off
• Compile the project including the Arduino core
• Download to the Arduino target and run

Simple Arduino project

• Create a new C++ Project

• You have to create a C++ project even if you plan to write C code since we have to compile the Arduino Core

• If you can’t create a C/C++ Project you have probably not downloaded the Eclipse for C/C++ Developers

  • Install the CDT plugin from www.eclipse.org/cdt

• Create a new C++ project named ch.actifsource.tutorial.cip.arduino
• Choose AVR Cross Target Application
• Choose the AVR-GCC Toolchain
• Click Next

• Do not create a Debug Version

• The debug code is too large to fit on the Arduino Uno

• See boards.txt for the maximum code size

  • uno.upload.maximum_size=32256 for this example

• Click Fish

• Open the C/C++ Perspective if you are asked or open it manually in the upper right corner

• For the newly created ch.actifsource.tutorial.cip.arduino, choose Properties (Mouse-Click-Right on the project)
• Select C/C++ Build
• In the Build Variables Tab, enter the following variables:
  • AVRDUDEOPTIONS, set to -p atmega328p -c arduino -P/dev/ttyUSB0 -b 115200
  • AVRTARGETFCPU, set to 16000000
  • AVRTARGETMCU, set to atmega328p
• Click Apply

• In the Environment Tab, enter the following variables:
  • AVRTARGETFCPU, set to 16000000
  • AVRTARGETMCU, set to atmega328p
• Click Apply

• In the Settings Tab, set AVRDude to true. This will automatically download the program to the attached board
• Click Apply

• This step is only needed on Windows

• SimpleProject/Properties/C/C++Build/Settings/AVR Compiler/Directories

• Set Include Path C:\arduino-1.0.3\hardware\tools\avr\avr\include

• Set Include Path C:\arduino-1.0.3\hardware\arduino\cores\arduino

• Set Include Path C:\arduino-1.0.3\hardware\arduino\variants\standard

  • See boards.txt (uno.build.variant) for your variant (standard for this example)

• Click OK

• Do the same again for SimpleProject/Properties/C/C++Build/Settings/AVR C++ Compiler/Directories

• Set Include Path C:\arduino-1.0.3\hardware\tools\avr\avr\include

• Set Include Path C:\arduino-1.0.3\hardware\arduino\cores\arduino

• Set Include Path C:\arduino-1.0.3\hardware\arduino\variants\standard

  • See boards.txt (uno.build.variant) for your variant (standard for this example)

• Click OK

• Create a new folder src in the project

• Create a new file main.c in the folder src

#include <avr/io.h>
#include <util/delay.h>

#define DELAYTIME 500  // 500ms Verzögerung

int main(void)
{
  DDRB |= _BV(DDB5); // Setze Pin PB5 (Arduino LED) als Ausgang

  while (1) {
    PORTB |= _BV(PORTB5);  // LED einschalten
    _delay_ms(DELAYTIME);  // Wartezeit

    PORTB &= ~_BV(PORTB5); // LED ausschalten
    _delay_ms(DELAYTIME);  // Wartezeit
  }

  return 0; // Dieser Punkt wird nie erreicht
}

• Write a very simple Arduino program in the file main.c as shown above
• If you enabled Build on resource save (Auto build) in Project/Properties/C/C++Build/Behaviour before, the code should now be built
• You can also build manually by pressing Project/Build All (Ctrl+B ) or the build button in the Eclipse toolbar

• Download your code to the Arduino

• Mount your LED between Pin 13 and GND

  • Don’t forget the 330Ω resistor for a 1.7V LED with 10mA 🡪 (5V-1.7V)/0.01A = 330Ω

• The program starts automatically after the download has been completed

  • The LED should switch on and off once per second

• Modeling a reactive state machine using the CIP method
• Generating C code for the state machine
• Connecting the generated state machine code to the Arduino I/O
• Downloading and testing to the Arduino board

CIP Arduino project

• Switch to the Actifsource Perspective
• Select your project ch.actifsource.tutorial.cip.arduino in the Project Explorer
• Select Configure/Add Actifsource Nature

• Open Properties/actifsource/Resource Paths
• Add the Resource Path asrc
• Press Apply

• Open Properties/actifsource/Built-in Dependencies
• Add Builtin CIP
• Add Builtin DATATYPE
• Important: Press Apply

• Open Properties/actifsource/Target Folders
• Add the existing folder src as target folder
• Add the BuildConfig CIP_C to the target src
• Press OK

• Select the Resource Folder asrc in the Project Explorer
• Select CipSystem from the New Resource Tool in the Eclipse toolbar

• Enter ch.actifsource.tutorial.cip.arduino as Namespace
• Enter LampSystem as Name
• Press Finish

• Create a LampSystem as shown in the Actifsource Tutorial CIP Statemachine - Lamp

• Create a new Implementation named LampSystemImplementation in your LampSystem
• Create a new ImplementationUnit named LampSystemUnit in your LampSystemImplementation
• Create a new CipMachine in your LampSystemUnit
• Reference the Cluster LampCluster in your CipMachine
• Create a new CipShell in your LampSystemUnit
• Reference the input channel Button
• Reference the output channel Lamp
• Create a new C_CodeOption named LampSystem_CodeOption using Content Assist (Ctrl+Space)

• Configure the newly created LampSystem_CodeOption
• Set useInterface to useMessageInterface
• Set usePostFix to InitPostFix
• Set enable_PENDING_Information to true
• The code for your CIP system is now generated in the target folder src

#include <avr/io.h>
#include <util/delay.h>
#include "sLampUnit.h"

#define LED_PIN     PB5   // LED connected to PB5 (Arduino Pin 13)
#define BUTTON_PIN  PB4   // Button connected to PB4 (Arduino Pin 12)

void AI_LampUnit_C2_Dark() {
  PORTB &= ~_BV(LED_PIN); // Turn LED OFF
}
void AI_LampUnit_C2_Bright() {
  PORTB |= _BV(LED_PIN);  // Turn LED ON
}
void iMSG_LampUnit() {
  OUT_LampUnit.C2_Dark = AI_LampUnit_C2_Dark;
  OUT_LampUnit.C2_Bright = AI_LampUnit_C2_Bright;
}

int main(void)
{
  if (!fINIT_LampUnit()) {return 1;} // init cip
  // Set LED_PIN as an output
  DDRB |= _BV(LED_PIN);

  // Set BUTTON_PIN as an input and enable internal pull-up resistor
  DDRB &= ~_BV(BUTTON_PIN);  // Configure as input
  PORTB |= _BV(BUTTON_PIN);  // Activate internal pull-up (idle state = HIGH)

  int oldbuttonState = 0;

  while (1) {
  int newButtonState = PINB & _BV(BUTTON_PIN); // read button pin
  TRG_LampUnit.TICK_();
  // ticking time
  if(oldbuttonState!=newButtonState && newButtonState==1) {
    IN_LampUnit.C1_Push();
  }
  if(oldbuttonState!=newButtonState && newButtonState==0) {
    IN_LampUnit.C1_Release();
  }

  oldbuttonState=newButtonState;

  while (TRG_LampUnit.PENDING_.ANY_) {
    TRG_LampUnit.STEP_();
  }
    delay_ms(4);
  }

  return 0; // Never reached
}

• Rewrite your main.c as shown above

• Download your code to the Arduino

  • Select your project SimpleProject in the Project Explorer
  • Press the AVR download button in the Eclipse toolbar

• We built a lamp with a delayed off switch

  • Pin 2 on GND means Button is released
  • Pin 2 on 5V means Button is pressed

• Start while Button is released

• Press Button 🡪 Light should switch on

• Release Button 🡪 Light should switch off with delay

  • Tune with the delay function of your timer and the delay_ms() call in the main.c