/*
* 毫秒级延时，误差±1ms
*/
void Delay_ms(unsigned int ms)
{
SysTick_t t = GetSystemTick();
t += ms;
while(GetSystemTick() < t){
SCB->SCR &= (uint32_t)~((uint32_t)SCB_SCR_SLEEPONEXIT); // Reset SLEEPONEXIT
SCB->SCR &= (uint32_t)~((uint32_t)SCB_SCR_SLEEPDEEP); // Clear SLEEPDEEP bit
__WFI(); // Request Wait For Interrupt
}
}
void LimitSwitch_Task()
{
SysTick_t now = GetSystemTick();
for (int i = 0; i < NUM_SWITCHS; ++i)
{
bool cur_state;
cur_state = LimitSwitch_Pressed(i);
//状态改变
if(cur_state != bSwitchPressed[i]) {
//有效的按键变化
if(now - lastInterrupt[i] >= LIMIT_SWITCH_MIN_TOGGLE_PERIOD){
lastInterrupt[i] = now;
bSwitchPressed[i] = cur_state;
bEventSent[i] = false;
}
}else{
//超过阈值,按下有效
if(cur_state && !bEventSent[i] && now - lastInterrupt[i] >= LIMIT_SWITCH_VALID_TIME) {
bEventSent[i] = true;
Move_LimitReached(i);
}
}
}
}
void ExtruderTask(void)
{
SysTick_t now = GetSystemTick();
if(bHeating && now - lastUpdatingTime > EXTRUDER_UPDATE_PERIOD) {
int output;
#if EXTRUDER_THERMO_USING_ADC
uint16_t adc_val = Analog_GetChannelValue(Extruder1Therm_ADC_Ch);
currentTemp = EXTRUDER_ADC_TO_TEMP(adc_val);
// DBG_MSG("ADC Val: %d %d", adc_val, currentTemp);
#else
currentTemp = MAX6675_Read_Value();
#endif
lastUpdatingTime = now;
if(currentTemp < 0) {
ERR_MSG("Thermcouple not connected!", 0);
return;
}
output = PID_Update(&pid, targetTemp - currentTemp);
//转为百分比
output /= 400;
Extruder_SetOutput(output);
}
}
HRESULT CCSRIRadar::Run(void* pvParam)
{
BYTE8* pbData = new BYTE8[100];
BYTE8* buf = pbData;
BYTE8* bEventId = buf;
*bEventId = 0;
buf++;
BYTE8* bType = buf;
*bType = 0x08;
buf++;
BYTE8* bEventDeviceType = buf;
*bEventDeviceType = 0x01;
buf++;
BYTE8* dwTimePos = buf;
buf += 4;
BYTE8* rgbData = buf;
DWORD32 dwTime, dwSize = buf - pbData + 1;
DWORD32 dwLastTimeTick = GetSystemTick();
while (!m_fExit)
{
if (1 == CSerialBase::Recv(&rgbData[0], 1, 3000))
{
if (rgbData[0] > 0)
{
HV_Trace(5, "receive a speed from CSR-I Radar, value=%d\n", rgbData[0]);
dwTime = GetSystemTick();
memcpy(dwTimePos, &dwTime, sizeof(DWORD32));
//send to slave.
g_cHvPciLinkApi.SendData(PCILINK_PCIIPT, pbData, dwSize);
}
}
if(GetSystemTick() - dwLastTimeTick >= 3000)
{
dwLastTimeTick = GetSystemTick();
HV_Trace(5, "CCSRIRadar working....\n");
}
}
delete []pbData;
return S_OK;
}
void Extruder_Init()
{
bHeating = false;
currentTemp = -1;
currentOutput = 0;
#if EXTRUDER_THERMO_USING_ADC
Analog_SetChannel(Extruder1Therm_ADC_Ch, true);
#else
MAX6675_Config();
#endif
lastUpdatingTime = GetSystemTick();
}
// 注：仅支持单板模式
// 必须打开单板模式编译宏“SINGLE_BOARD_PLATFORM”才能编译通过!!!
int main(int argc, char** argv)
{
HV_Trace(5, "Begin...\n");
HV_Trace(5, "%s %s\n", __TIME__, __DATE__);
LinuxSystemInit();
CUserExitThread e;
e.Start(NULL);
// 使能看门狗。
// 注：使能之前必须喂狗，防止遇到“打开看门狗的同时发生喂狗超时而导致设备复位”这样的情况。
WdtHandshake();
CPLD_Write(CPLD_WTD_ENABLE, 1);
WdtHandshake();
// 载入各模块参数
ModuleParams cModuleParams;
if ( S_OK != LoadModuleParam(cModuleParams) )
{
HV_Trace(5, "LoadModuleParam failed!\n");
HV_Exit(HEC_FAIL|HEC_RESET_DEV, "LoadModuleParam failed!");
}
WdtHandshake();
// 判断是否恢复出厂设置
if (IsRecoverFactorySettings())
{
RecoverFactorySettings();
HV_Exit(HEC_SUCC, "RecoverFactorySettings!");
}
WdtHandshake();
// 初始化共享内存
if (S_OK != InitDspLinkMemBlocks(LPRAPP_SINGLE_BOARD_PLATFORM))
{
HV_Trace(5, "Memory blocks initialize failed!\n");
HV_Exit(HEC_RESET_DEV|HEC_FAIL, "Memory blocks initialize failed!");
}
WdtHandshake();
BOOL fIsIP1Correct = FALSE;
// 判断是否测试相机口（生产测试时使用）
if (!IsTestCamLanPort())
{
// 正常工作，非测试，设置LAN1和LAN2口
// 确保LAN1和LAN2不在同一网段内，如果在同一网段内，LAN1将会被强行关闭
if (CheckIPAddr(cModuleParams.cTcpipCfgParam_1, cModuleParams.cTcpipCfgParam_2) == S_OK)
{
fIsIP1Correct = TRUE;
SetTcpipAddr_1(&cModuleParams.cTcpipCfgParam_1);
}
// 设置设备IP
SetTcpipAddr_2(&cModuleParams.cTcpipCfgParam_2);
}
else
{
// 进行测试相机口，只设置LAN1口为通信息端口
fIsIP1Correct = TRUE;
SetTcpipAddr_1(&cModuleParams.cTcpipCfgParam_2);
}
if (S_OK == StartCamTransmit(0,
"",
cModuleParams.cTcpipCfgParam_1,
cModuleParams.cTcpipCfgParam_2))
{
HV_Trace(5, "StartCamTransmit...\n");
}
WdtHandshake();
CSafeSaverDm6467Impl* pcSafeSaver = NULL;
if (1 == cModuleParams.cResultSenderParam.fInitHdd)
{
SetAllLightOn();
g_cHddOpThread.SetHddOpType(HOT_FULL_INIT);
g_cHddOpThread.Start(NULL);
HV_Trace(5, "Hdd init...\n");
}
if (cModuleParams.cResultSenderParam.fIsSafeSaver)
{
if (!cModuleParams.cResultSenderParam.fInitHdd)
{
SetAllLightOn();
g_cHddOpThread.SetHddOpType(HOT_INIT);
g_cHddOpThread.Start(NULL);
HV_Trace(5, "Hdd check...\n");
}
WdtHandshake();
while (1 != g_nHddCheckStatus)
{
HV_Trace(5, "等待硬盘初始化完成...\n");
HV_Sleep(1000);
WdtHandshake();
}
pcSafeSaver = new CSafeSaverDm6467Impl();
SSafeSaveParam sParam;
sParam.fCoverCtrl = true;
sParam.fSaveRecord = true;
pcSafeSaver->Init(&sParam);
}
SEND_RECORD_PARAM cParam;
cParam.pcSafeSaver = pcSafeSaver;
CCameraRecordLinkCtrl cCameraRecordLinkCtrl;
cCameraRecordLinkCtrl.SetParam(&cParam);
if ( S_OK != cCameraRecordLinkCtrl.Start(NULL) )
{
HV_Trace(5, "CCameraRecordLinkCtrl Start failed!\n");
HV_Exit(HEC_FAIL, "CCameraRecordLinkCtrl Start failed!");
}
WdtHandshake();
ICameraCmdProcess* pICameraCmdProcess = NULL;
if ( S_OK != CCameraCmdProcess::CreateICameraCmdProcess(&pICameraCmdProcess) )
{
HV_Trace(5, "CreateICameraCmdProcess failed!\n");
HV_Exit(HEC_FAIL, "CreateICameraCmdProcess failed!");
}
CCameraCmdLinkCtrl cCameraCmdLinkCtrl(pICameraCmdProcess);
if ( S_OK != cCameraCmdLinkCtrl.Start(NULL) )
{
HV_Trace(5, "CCameraCmdLinkCtrl Start failed!\n");
HV_Exit(HEC_FAIL, "CCameraCmdLinkCtrl Start failed!");
}
WdtHandshake();
CHvBoxHolder cHvBoxHolder;
cHvBoxHolder.Init(&cModuleParams, pcSafeSaver);
HV_Sleep(300);
// 启动设备搜索响应线程
CIPSearchThread cDevSearch;
if ( S_OK != cDevSearch.Create() )
{
HV_Trace(5, "IP search thread create failed!\n");
HV_Exit(HEC_FAIL, "IP search thread create failed!");
}
// 初始化HvTelnet服务
if ( -1 == TelnetInit() )
{
HV_Trace(5, "TelnetInit is Failed!\n");
HV_Exit(HEC_FAIL, "TelnetInit is Failed!");
}
WdtHandshake();
/*
SetBuzzerOn();
HV_Sleep(200);
SetBuzzerOff();
*/
SetLan1LedOff();
SetLan2LedOff();
SetHddLedOff();
SetStatLedOff();
HV_Trace(5, "Running...\n");
// 定时对网关进行ARPPing
CPingThread cPingThread;
cPingThread.SetIPAddress(cModuleParams.cTcpipCfgParam_1.szIp, cModuleParams.cTcpipCfgParam_1.szNetmask, cModuleParams.cTcpipCfgParam_1.szGateway);
cPingThread.Start(NULL);
WdtHandshake();
DWORD32 dwIPTick = 0;
DWORD32 dwBoxTick = 0;
DWORD32 dwDotTick = 0;
DWORD32 dwMemTick = GetSystemTick();
while (1)
{
if (!fIsIP1Correct && (GetSystemTick() - dwIPTick >= 5000))
{
HV_Trace(5, "LAN1和LAN2的IP不能设置为同一网段，请更改！\n");
dwIPTick = GetSystemTick();
}
HV_Sleep(500);
if (GetSystemTick() - dwBoxTick >= 10000)
{
cHvBoxHolder.ShowStatus();
dwBoxTick = GetSystemTick();
}
if (GetSystemTick() - dwMemTick >= 20000)
{
ShareMemPoolStatusShow();
dwMemTick = GetSystemTick();
}
WdtHandshake();
WorkLedLight();
if (GetSystemTick() - dwDotTick >= 1000)
{
HV_Trace(5,".");
fflush(stdout);
dwDotTick = GetSystemTick();
}
}
HV_Exit(HEC_FAIL, "MainExit");
}
HRESULT CTrafficLightImpl::RecognizeTrafficLight(HV_COMPONENT_IMAGE* pSceneImage, int* iCurrentStatus, int* iLastStatus, bool fNight)
{
if (m_tlpTrafficLightParam.iLightGroupCount <= 0) return S_FALSE;
HRESULT hResult = S_FALSE;
static int nSceneStatusPos= 0;
LIGHT_TEAM_STATUS ltsInfo;
ltsInfo.nTeamCount = m_tlpTrafficLightParam.iLightGroupCount;
bool fDynamic = false;
static int iSkipFrameNo = m_tlpTrafficLightParam.iSkipFrameNo;
for(int i = 0; i<m_tlpTrafficLightParam.iLightGroupCount; i++)
{
if (m_tlpTrafficLightParam.iCheckType == 0)
{
//红绿灯识别
if (iSkipFrameNo == 0 && m_tlpTrafficLightParam.iAutoScanLight == 1)
{
m_rgLightInfo[i].UpdateStatus3( pSceneImage , fNight);
m_rgLightRect[i] = m_rgLightInfo[i].GetRect();
m_rgLightStatus[i] = m_rgLightInfo[i].GetLastStatus();
fDynamic = true;
}
else
{
m_rgLightInfo[i].UpdateStatus( pSceneImage );
m_rgLightRect[i] = m_rgLightInfo[i].GetRect();
m_rgLightStatus[i] = m_rgLightInfo[i].GetLastStatus();
}
sv::utTrace("<123dsp light>status:%08x.", m_rgLightStatus[i]);
}
else
{
if (m_pCallback == NULL)
{
return E_FAIL;
}
m_rgLightRect[i] = m_rgLightInfo[i].GetRect();
BYTE8 bLevel = 0;
if (S_OK != m_pCallback->GetTrafficLightStatus(&bLevel))
{
return E_FAIL;
}
m_rgLightStatus[i] = GetIOStatus(i, bLevel);
}
m_rgLightInfo[i].m_iRedLightCountFinded = 0;
m_rgLightInfo[i].m_iGreenLightCountFinded = 0;
ltsInfo.pdwStatus[i] = m_rgLightStatus[i];
ltsInfo.pnLightCount[i] = m_rgLightInfo[i].GetPosCount();
//传检测到的灯传出去显示
if(m_pCallback)
{
m_pCallback->TrafficLightStatusEx(
i,
m_rgLightInfo[i].m_iRedLightCountFinded,
m_rgLightInfo[i].m_rcRedLightPosFinded,
m_rgLightInfo[i].m_iGreenLightCountFinded,
m_rgLightInfo[i].m_rcGreenLightPosFinded
);
}
}
if (iSkipFrameNo <= 0)
{
iSkipFrameNo = m_tlpTrafficLightParam.iSkipFrameNo;
}
else
{
iSkipFrameNo--;
}
//取得当前场景
bool fFlag = (m_tlpTrafficLightParam.iSceneCheckMode == 0);
int nCurScene = TransitionScene(ltsInfo, m_tlpTrafficLightParam.iSceneCount, m_iLastOkLightStatus, fFlag);
sv::utTrace("<123dsp light>CurScene:%08x.", nCurScene);
//调整发送出去的红灯的坐标
if (m_tlpTrafficLightParam.iAutoScanLight == 1 && fDynamic)
{
////更新最后可正常识别的灯组的位置
if (nCurScene != -1)
{
for (int i = 0; i < m_tlpTrafficLightParam.iLightGroupCount; i++)
{
m_rgLightInfo[i].UpdateLastSureLight(m_rgLightInfo[i].GetRect());
}
}
else
{
//处于中间状态时,则将灯红坐标还原回最后可识别出的状态
for (int i = 0; i < m_tlpTrafficLightParam.iLightGroupCount; i++)
{
m_rgLightInfo[i].SetRect(m_rgLightInfo[i].GetLastSureLight(), m_rgLightInfo[i].GetPosCount(), m_rgLightInfo[i].GetLightDirection());
}
}
//更新红灯的坐标
UpdateRedLightPos();
}
if( m_pCallback )
{
int nSceneStatus = -1;
if( m_pCallback != NULL)
{
//把红灯的位置传出去
m_pCallback->TrafficLightStatus(
m_tlpTrafficLightParam.iLightGroupCount,
m_rgLightStatus,
&nSceneStatus,
m_rgLightRect,
m_iRedLightCount,
m_rgRedLightRect,
pSceneImage
);
}
nSceneStatus = nCurScene;
#if 0
//新增输出红绿灯灯组信息 lixh 2011-09-19
static char pLightStatus[64] = "", pLastStatus[64] = "";
memset(pLightStatus, 0, 64);
PrintLightStatus(ltsInfo , pLightStatus , 64);
if(0 != strcmp(pLightStatus, pLastStatus))
{
strcpy(pLastStatus, pLightStatus);
sprintf(g_szDebugInfo, "rg status = %s", pLastStatus);
for(int i = 0; i < m_tlpTrafficLightParam.iLightGroupCount; i++)
{
CRect rc = m_rgLightInfo[i].GetRect();
sprintf(g_szDebugInfo + strlen(g_szDebugInfo), "(%d,%d,%d,%d)", rc.left, rc.top, rc.right, rc.bottom);
}
}
#endif
m_iCurLightStatus = nSceneStatus;
//如果用户设置了场景状态则加入场景状态队列
//if(hr == S_OK && nSceneStatus != -1)
if( nSceneStatus != -1 )
{
m_iErrorSceneCount = 0;
SetSceneStatus(nSceneStatusPos, nSceneStatus);
nSceneStatusPos++; //下一个存储位置,同时也是计数
int iRelayTimeMs = m_tlpTrafficLightParam.iValidSceneStatusCount * 100;
//加入场景状态后判断是否输出
if(m_tlpTrafficLightParam.iValidSceneStatusCount > 0 && nSceneStatusPos >= m_tlpTrafficLightParam.iValidSceneStatusCount)
{
int nLastPos = nSceneStatusPos - 1;
int nLastStatus = GetSceneStatus(nLastPos);
BOOL fValid = TRUE;
for( int i = nLastPos - 1; i > (nLastPos - m_tlpTrafficLightParam.iValidSceneStatusCount); i--)
{
if( GetSceneStatus(i) != nLastStatus)
{
fValid = FALSE;
break;
}
}
//如果是快速模式，则有一帧判断为下一场景就跳变.
if( m_fCheckSpeed && !fValid && m_iLastOkLightStatus != -1 && m_iLastOkLightStatus != nSceneStatus)
{
int iNextStatus = (m_iLastOkLightStatus + 1) % m_tlpTrafficLightParam.iSceneCount;
if( iNextStatus == nSceneStatus )
{
fValid = true;
iRelayTimeMs = 100;
nLastStatus = nSceneStatus;
}
}
if( fValid && nLastStatus != m_iLastLightStatus)
{
//如果有绿灯变成红灯且设有黄灯延迟
TRAFFICLIGHT_SCENE tsLast, tsRelay;
GetLightScene(m_iLastOkLightStatus, &tsLast);
GetLightScene(nLastStatus, &tsRelay);
DWORD32 dwTick = GetSystemTick();
bool fRelayTimeOut = true;
if( m_tlpTrafficLightParam.iRedLightDelay > 0 )
{
if( tsLast.lsLeft == TLS_GREEN && tsRelay.lsLeft == TLS_RED )
{
if( m_ltRedRelay.dwLeft == 0 ) m_ltRedRelay.dwLeft = dwTick;
if( int(dwTick - m_ltRedRelay.dwLeft) < (m_tlpTrafficLightParam.iRedLightDelay * 1000) )
{
fRelayTimeOut = false;
}
}
if( tsLast.lsForward == TLS_GREEN && tsRelay.lsForward == TLS_RED )
{
if( m_ltRedRelay.dwForward == 0 ) m_ltRedRelay.dwForward = dwTick;
if( int(dwTick - m_ltRedRelay.dwForward) < (m_tlpTrafficLightParam.iRedLightDelay * 1000) )
{
fRelayTimeOut = false;
}
}
if( tsLast.lsRight == TLS_GREEN && tsRelay.lsRight == TLS_RED )
{
if( m_ltRedRelay.dwRight == 0 ) m_ltRedRelay.dwRight = dwTick;
if( int(dwTick - m_ltRedRelay.dwRight) < (m_tlpTrafficLightParam.iRedLightDelay * 1000) )
{
fRelayTimeOut = false;
}
}
if( tsLast.lsTurn == TLS_GREEN && tsRelay.lsTurn == TLS_RED )
{
if( m_ltRedRelay.dwTurn == 0 ) m_ltRedRelay.dwTurn = dwTick;
if( int(dwTick - m_ltRedRelay.dwTurn) < (m_tlpTrafficLightParam.iRedLightDelay * 1000) )
{
fRelayTimeOut = false;
}
}
}
if( fRelayTimeOut )
{
m_ltRedRelay.Reset();
m_iLastLightStatus = nLastStatus;
TRAFFICLIGHT_SCENE tsSceneStatus, tsNow;
GetLightScene(m_iLastLightStatus, &tsSceneStatus);
GetLightScene(m_iLastLightStatus, &tsNow);
int iGreenRelayMs = 1000;
//新增输出红绿灯灯组信息 lixh 2011-09-19
char pLightStatus[64];
memset(pLightStatus, 0, 64);
PrintLightStatus(ltsInfo , pLightStatus , 64);
if( m_pCallback != NULL )
{
m_pCallback->TrafficSceneStatus(tsSceneStatus,pLightStatus);
}
//更新红灯开始时间
if( nLastStatus != -1 )
{
m_iLastOkLightStatus = nLastStatus;
}
//DWORD32 dwTimeLow, dwTimeHigh;
//ConvertTickToSystemTime((GetSystemTick() - iRelayTimeMs), dwTimeLow, dwTimeHigh);
//一体机代码，红绿灯时间只有L，没有H，在ARM端在通过ConvertTickToSystemTime进行转换,黄国超修改,2011-07-21
DWORD32 dwTimeLow = GetSystemTick() - iRelayTimeMs, dwTimeHigh = 0;
if( tsNow.lsLeft == TLS_RED && tsLast.lsLeft != TLS_RED )
{
m_redrealtime.dwLeftL = dwTimeLow;
m_redrealtime.dwLeftH = dwTimeHigh;
}
if( tsNow.lsLeft == TLS_GREEN && tsLast.lsLeft != TLS_GREEN )
{
m_greentick.dwLeft = GetSystemTick() - iRelayTimeMs - iGreenRelayMs;
}
else if( tsNow.lsLeft != TLS_GREEN )
{
m_greentick.dwLeft = 0;
}
if( tsNow.lsForward == TLS_RED && tsLast.lsForward != TLS_RED )
{
m_redrealtime.dwForwardL = dwTimeLow;
m_redrealtime.dwForwardH = dwTimeHigh;
}
if( tsNow.lsForward == TLS_GREEN && tsLast.lsForward != TLS_GREEN )
{
m_greentick.dwForward = GetSystemTick() - iRelayTimeMs - iGreenRelayMs;
}
else if( tsNow.lsForward != TLS_GREEN )
{
m_greentick.dwForward = 0;
}
if( tsNow.lsRight == TLS_RED && tsLast.lsRight != TLS_RED )
{
m_redrealtime.dwRightL = dwTimeLow;
m_redrealtime.dwRightH = dwTimeHigh;
}
if( tsNow.lsRight == TLS_GREEN && tsLast.lsRight != TLS_GREEN )
{
m_greentick.dwRight = GetSystemTick() - iRelayTimeMs - iGreenRelayMs;
}
else if( tsNow.lsRight != TLS_GREEN )
{
m_greentick.dwRight = 0;
}
if( tsNow.lsTurn == TLS_RED && tsLast.lsTurn != TLS_RED )
{
m_redrealtime.dwTurnL = dwTimeLow;
m_redrealtime.dwTurnH = dwTimeHigh;
}
if( tsNow.lsTurn == TLS_GREEN && tsLast.lsTurn != TLS_GREEN )
{
m_greentick.dwTurn = GetSystemTick() - iRelayTimeMs - iGreenRelayMs;
}
else if( tsNow.lsTurn != TLS_GREEN )
{
m_greentick.dwTurn = 0;
}
}
}
}
}
else
{
//如果无效场景数大于设定的值，则把当前的场景设成-1.
m_iErrorSceneCount++;
if( m_iErrorSceneCount >= (m_tlpTrafficLightParam.iValidSceneStatusCount * 2))
{
m_iLastLightStatus = -1;
TRAFFICLIGHT_SCENE tsSceneStatus;
GetLightScene(m_iLastLightStatus, &tsSceneStatus);
//新增输出红绿灯灯组信息 lixh 2011-09-19
char pLightStatus[64];
memset(pLightStatus, 0, 64);
PrintLightStatus(ltsInfo , pLightStatus , 64);
if( m_pCallback != NULL )
{
m_pCallback->TrafficSceneStatus(tsSceneStatus,pLightStatus);
}
//无效场景有可能是中间状态，红灯时间不能重置。
}
//如果无效场景帧数大过设定的值，则重置红绿灯框位置,红灯时间重置
if( m_iErrorSceneCount > MAX_ERROR_COUNT )
{
m_iErrorSceneCount = 0;
m_iLastOkLightStatus = -1;
for(int i = 0; i < 4; ++i)
{
m_redrealtime.Reset();
m_greentick.Reset();
}
if( m_tlpTrafficLightParam.iAutoScanLight == 1 )
{
for(int i = 0; i <m_tlpTrafficLightParam.iLightGroupCount; ++i)
{
if( S_OK == m_rgLightInfo[i].ReScan() )
{
HV_Trace(5, "TrafficLight ReScan ...\n");
}
}
}
}
}
}
*iCurrentStatus = m_iCurLightStatus;
*iLastStatus = m_iLastLightStatus;
return hResult;
}
int main(void)
{
Init();
DBG_MSG("----- Power On -----");
if(USBDevice_PlugIn())
{
DBG_MSG( "Usb Init Started");
USB_Init();
}else{
DBG_MSG("FileSystem_Init");
FileSystem_Init();
fileTest();
}
while(true);//Stop here
char color[] = {0xff, 0xff, 0x00};
WS2812_Set(0, 3, color);
color[0] = 0x00;
color[2] = 0xff;
WS2812_Set(3, 3, color);
color[0] = 0xff;
color[1] = 0x00;
WS2812_Set(6, 3, color);
LED_RED(true);
Delay_ms(200);
LED_GREEN(true);
Delay_ms(200);
LED_BLUE(true);
DBG_MSG("Temperature: %f", TMP102_GetTemp());
DBG_MSG("Temperature: %f", TMP102_GetTemp());
// WavePlayer_Init();
// WavePlayerMenu_Start("/", "teq.wav");
// WavePlayer_Start();
// Reflective_Start();
// Analog_SetChannel(PHOTOTRANS_1_CH, true);
// Analog_SetChannel(PHOTOTRANS_2_CH, true);
// Analog_SetChannel(PHOTOTRANS_3_CH, true);
// Analog_SetChannel(PHOTOTRANS_4_CH, true);
// Analog_SetChannel(PHOTOTRANS_5_CH, true);
Delay_ms(2000);
MPU9250_InitProcedure();
SysTick_t tick = 0;
while(true) {
float accel[3], gyro[3], mag[3];
float yaw, pitch, roll;
if(GetSystemTick() - tick > 1000){
if(MPU9250_CheckNewSample()){
MPU9250_Get9AxisData(accel, gyro, mag);
MPU9250_CalcOrientation(&yaw, &pitch, &roll);
}
DBG_MSG("Temperature: %f", TMP102_GetTemp());
// DBG_MSG("ADC: %d %d %d %d %d",
// Analog_GetChannelValue(PHOTOTRANS_1_CH),
// Analog_GetChannelValue(PHOTOTRANS_2_CH),
// Analog_GetChannelValue(PHOTOTRANS_3_CH),
// Analog_GetChannelValue(PHOTOTRANS_4_CH),
// Analog_GetChannelValue(PHOTOTRANS_5_CH)
// );
for (int i = 0; i < 3; ++i)
{
DBG_MSG("MPU-Accel-%c: %f", i+'X', accel[i]);
}
for (int i = 0; i < 3; ++i)
{
DBG_MSG("MPU-Gyro-%c: %f", i+'X', gyro[i]);
}
for (int i = 0; i < 3; ++i)
{
DBG_MSG("MPU-Mag-%c: %f", i+'X', mag[i]);
}
DBG_MSG("MPU-Temp: %f", MPU9250_GetTemperature());
DBG_MSG("yaw: %f, pitch: %f, roll: %f", yaw, pitch, roll);
tick = GetSystemTick();
}
}
}
static bool DHT_read(void)
{
uint8_t laststate = 1;
uint8_t counter = 0;
uint8_t j = 0, i;
SysTick_t currenttime;
// Check if sensor was read less than two seconds ago and return early
// to use last reading.
currenttime = GetSystemTick();
if (currenttime < _lastreadtime) {
// ie there was a rollover
_lastreadtime = 0;
}
if (!firstreading && ((currenttime - _lastreadtime) < 2000)) {
return true; // return last correct measurement
//delay(2000 - (currenttime - _lastreadtime));
}
firstreading = false;
/*
Serial.print("Currtime: "); Serial.print(currenttime);
Serial.print(" Lasttime: "); Serial.print(_lastreadtime);
*/
_lastreadtime = GetSystemTick();
data[0] = data[1] = data[2] = data[3] = data[4] = 0;
// pull the pin high and wait 250 milliseconds
// DHT_pinMode(GPIO_Mode_IPU);
// Delay_ms(250);
// now pull it low for ~20 milliseconds
DHT_pinMode(GPIO_Mode_Out_PP);
GPIO_ResetBits(DHT11_PORT, DHT11_PIN);
Delay_ms(20);
__disable_irq();
// GPIO_SetBits(DHT11_PORT, DHT11_PIN);
// Delay_us(40);
DHT_pinMode(GPIO_Mode_IPU);
// uint8_t max_counter = 0, min_counter = 200;
// read in timings
for ( i = 0; i < MAXTIMINGS; i++) {
counter = 0;
while (GPIO_ReadInputDataBit(DHT11_PORT, DHT11_PIN) == laststate) {
counter++;
Delay_us(3);
if (counter == 255) {
break;
}
}
laststate = GPIO_ReadInputDataBit(DHT11_PORT, DHT11_PIN);
if (counter == 255) break;
// ignore first 3 transitions
if ((i >= 4) && ((i & 1) == 0)) {
// shove each bit into the storage bytes
data[j / 8] <<= 1;
if (counter > 8)
data[j / 8] |= 1;
j++;
// if(counter > max_counter)
// max_counter = counter;
// if(counter < min_counter)
// min_counter = counter;
}
}
__enable_irq();
// DBG_MSG("Counter: %d %d", min_counter, max_counter);
/*
Serial.println(j, DEC);
Serial.print(data[0], HEX); Serial.print(", ");
Serial.print(data[1], HEX); Serial.print(", ");
Serial.print(data[2], HEX); Serial.print(", ");
Serial.print(data[3], HEX); Serial.print(", ");
Serial.print(data[4], HEX); Serial.print(" =? ");
Serial.println(data[0] + data[1] + data[2] + data[3], HEX);
*/
// check we read 40 bits and that the checksum matches
if ((j >= 40) &&
(data[4] == ((data[0] + data[1] + data[2] + data[3]) & 0xFF)) ) {
return true;
}
return false;
}
