static void RemoteTask (void *pvParameters) {
(void)pvParameters;
#if PL_CONFIG_HAS_JOYSTICK
(void)APP_GetXY(&midPointX, &midPointY, NULL, NULL);
#endif
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
for(;;) {
if (REMOTE_isOn) {
#if PL_CONFIG_HAS_JOYSTICK
if (REMOTE_useJoystick) {
uint8_t buf[2];
int16_t x, y;
int8_t x8, y8;
/* send periodically messages */
APP_GetXY(&x, &y, &x8, &y8);
buf[0] = x8;
buf[1] = y8;
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), x8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), y8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_JOYSTICK_XY, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
FRTOS1_vTaskDelay(200/portTICK_PERIOD_MS);
} else {
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
}
} /* for */
}
static void StatusPrintXY(CLS1_ConstStdIOType *io) {
uint16_t x, y;
int8_t x8, y8;
uint8_t buf[64];
if (APP_GetXY(&x, &y, &x8, &y8)==ERR_OK) {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"X: 0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), x);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"(");
UTIL1_strcatNum8s(buf, sizeof(buf), x8);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)") Y: 0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), y);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"(");
UTIL1_strcatNum8s(buf, sizeof(buf), y8);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)")\r\n");
} else {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"GetXY() failed!\r\n");
}
CLS1_SendStatusStr((unsigned char*)" analog", buf, io->stdOut);
}
static portTASK_FUNCTION(RemoteTask, pvParameters) {
#if PL_HAS_WATCHDOG
int i;
#endif
(void)pvParameters;
#if PL_HAS_JOYSTICK
(void)APP_GetXY(&midPointX, &midPointY, NULL, NULL);
#endif
for(;;) {
if (REMOTE_isOn) {
#if PL_HAS_ACCEL
if (REMOTE_useAccelerometer) {
#if PL_HAS_KEYS
uint8_t buf[7];
uint8_t keys;
#else /* PL_HAS_KEYS */
uint8_t buf[6];
#endif /* PL_HAS_KEYS */
int16_t x, y, z;
/* send periodically accelerometer messages */
#if PL_HAS_KEYS
APP_GetKeys(&keys);
#endif /* PL_HAS_KEYS */
ACCEL_GetValues(&x, &y, &z);
buf[0] = (uint8_t)(x&0xFF);
buf[1] = (uint8_t)(x>>8);
buf[2] = (uint8_t)(y&0xFF);
buf[3] = (uint8_t)(y>>8);
buf[4] = (uint8_t)(z&0xFF);
buf[5] = (uint8_t)(z>>8);
#if PL_HAS_KEYS
buf[6] = keys;
#endif /* PL_HAS_KEYS */
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), x);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), y);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" z: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), z);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_ACCEL, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
#if PL_HAS_JOYSTICK
if (REMOTE_useJoystick) {
#if PL_HAS_KEYS
uint8_t buf[3];
uint8_t keys;
#else /* PL_HAS_KEYS */
uint8_t buf[2];
#endif /* PL_HAS_KEYS */
int16_t x, y;
int8_t x8, y8;
/* send periodically accelerometer messages */
#if PL_HAS_KEYS
APP_GetKeys(&keys);
#endif /* PL_HAS_KEYS */
APP_GetXY(&x, &y, &x8, &y8);
buf[0] = x8;
buf[1] = y8;
#if PL_HAS_KEYS
buf[2] = keys;
#endif /* PL_HAS_KEYS */
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), x8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), y8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_JOYSTICK_XY, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
#if PL_HAS_WATCHDOG
for(i=0; i<2; i++) { /* do it in smaller steps */
WDT_IncTaskCntr(WDT_TASK_ID_REMOTE, 100);
FRTOS1_vTaskDelay(100/portTICK_RATE_MS);
}
#else
FRTOS1_vTaskDelay(200/portTICK_RATE_MS);
#endif
} else {
#if PL_HAS_WATCHDOG
for(i=0; i<10; i++) { /* do it in smaller steps */
WDT_IncTaskCntr(WDT_TASK_ID_REMOTE, 100);
FRTOS1_vTaskDelay(100/portTICK_RATE_MS);
}
#else
FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);
#endif
}
} /* for */
static void RemoteTask (void *pvParameters) {
(void)pvParameters;
#if PL_CONFIG_HAS_JOYSTICK
(void)APP_GetXY(&midPointX, &midPointY, NULL, NULL);
#endif
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
for(;;) {
if (REMOTE_isOn) {
#if PL_CONFIG_HAS_JOYSTICK
if (REMOTE_useJoystick) {
uint8_t buf[2];
int16_t x, y;
int8_t x8, y8;
/* send periodically messages */
APP_GetXY(&x, &y, &x8, &y8);
if(x8 > 100)
buf[0] = 1;
else if(x8 < -100)
buf[0] = 2;
else
buf[0] = 0;
//buf[0] = x8;
if(normalSpeedPressed) {
if(fastSpeedPressed) {
buf[1] = 2; // fast speed
} else {
buf[1] = 1; // normal speed
}
} else if (retourSpeedPressed) {
buf[1] = 3; // retour
} else {
buf[1] = 0; // stand
}
if(startLineFollow == 1) {
buf[1] = 4; // left handed
startLineFollow = 0;
}
if(startLineFollow == 2) {
buf[1] = 5; // right handed
startLineFollow = 0;
}
//buf[1] = y8;
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), x8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), y8);
//UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
//UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
//UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" 0/R/L: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), buf[0]);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" 0/N/F/R: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), buf[1]);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_JOYSTICK_XY, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
FRTOS1_vTaskDelay(20/portTICK_PERIOD_MS);
} else {
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
}
} /* for */
}
