int main(void) {
int light_level = 0;
Roach_Init();
printf("Welcome to the Roach Test\r\n");
printf("Bump states and light levels will be printed to the terminal every .1 seconds while also controlling the motor speed\r\n");
InitTimer(0, 2000);
while (!IsTimerExpired(0));
while (1) {
light_level = LightLevel() / 100;
if (ReadFrontLeftBumper()) {
LeftMtrSpeed(light_level);
}
if (ReadFrontRightBumper()) {
RightMtrSpeed(light_level);
}
if (ReadRearLeftBumper()) {
LeftMtrSpeed(light_level*-1);
}
if (ReadRearRightBumper()) {
RightMtrSpeed(light_level*-1);
}
if(IsTimerExpired(0)==TIMER_EXPIRED){
printf("%d\t%d\t%d\t%d\t%d", ReadFrontLeftBumper(), ReadFrontRightBumper(), ReadRearLeftBumper(), ReadRearRightBumper(), LightLevel());
InitTimer(0, 100);
}
}
return 0;
}
int main(void) {
int i = 0;
SERIAL_Init();
TIMERS_Init();
INTEnableSystemMultiVectoredInt();
printf("\r\nUno Timers Test Harness\r\n");
printf("Setting each timer for one second longer than the last and waiting for all to expire. There are %d available timers\r\n", TIMERS_IN_TEST);
for (i = 0; i <= TIMERS_IN_TEST; i++) {
InitTimer(i, (i + 1)*1000); //for second scale
}
while (IsTimerActive(TIMERS_IN_TEST - 1) == TIMER_ACTIVE) {
for (i = 0; i <= TIMERS_IN_TEST; i++) {
if (IsTimerExpired(i) == TIMER_EXPIRED) {
printf("Timer %d has expired and the free running counter is at %d\r\n", i, GetTime());
ClearTimerExpired(i);
}
}
}
printf("All timers have ended\r\n");
printf("Setting and starting 1st timer to 2 seconds using alternative method. \r\n");
SetTimer(0, 2000);
StartTimer(0);
while (IsTimerExpired(0) != TIMER_EXPIRED);
printf("2 seconds should have elapsed\r\n");
printf("Starting 1st timer for 8 seconds but also starting 2nd timer for 4 second\r\n");
InitTimer(0, 8000);
InitTimer(1, 4000);
while (IsTimerExpired(1) != TIMER_EXPIRED);
printf("4 seconds have passed and now stopping 1st timer\r\n");
StopTimer(0);
printf("Waiting 6 seconds to verifiy that 1st timer has indeed stopped\r\n");
InitTimer(1, 3000);
i = 0;
while (IsTimerActive(1) == TIMER_ACTIVE) {
if (IsTimerExpired(0) == TIMER_EXPIRED) {
i++;
ClearTimerExpired(0);
}
}
if (i == 0) {
printf("Timer did not expire, module working correctly\r\n");
} else {
printf("Timer did expire, module not working correctly\r\n");
}
return 0;
}
void CItemSpawn::OnTick(bool fExec)
{
ADDTOCALLSTACK("CitemSpawn:OnTick");
INT64 iMinutes;
if ( m_itSpawnChar.m_TimeHiMin <= 0 )
iMinutes = Calc_GetRandLLVal(30) + 1;
else
iMinutes = minimum(m_itSpawnChar.m_TimeHiMin, m_itSpawnChar.m_TimeLoMin) + Calc_GetRandLLVal(abs(m_itSpawnChar.m_TimeHiMin - m_itSpawnChar.m_TimeLoMin));
if ( iMinutes <= 0 )
iMinutes = 1;
if ( !fExec || IsTimerExpired() )
SetTimeout(iMinutes * 60 * TICK_PER_SEC); // set time to check again.
if ( !fExec || m_currentSpawned >= GetAmount() )
return;
CResourceDef *pDef = FixDef();
if ( !pDef )
{
RESOURCE_ID_BASE rid = IsType(IT_SPAWN_ITEM) ? m_itSpawnItem.m_ItemID : m_itSpawnChar.m_CharID;
DEBUG_ERR(("Bad Spawn point uid=0%lx, id=%s\n", (DWORD)GetUID(), g_Cfg.ResourceGetName(rid)));
return;
}
if ( IsType(IT_SPAWN_ITEM) )
GenerateItem(pDef);
else
GenerateChar(pDef);
}
char IR_Update() {
// Check main sensor
#ifdef USE_SAMPLING
if (IsTimerExpired(TIMER_IR)) {
/*
char result = IsMainTriggered();
#ifdef USE_LEDS
if (result)
LED_OnBank(LED_BANK3, 0x1);
else
LED_OffBank(LED_BANK3, 0x1);
#endif
irState[IR_MAIN_I] = result;
// Check angle sensor
result = IsAngleTriggered();
#ifdef USE_LEDS
if (result)
LED_OnBank(LED_BANK3, 0x8);
else
LED_OffBank(LED_BANK3, 0x8);
#endif
irState[IR_ANGLE_I] = result;
*/
UpdateCounters();
InitTimer(TIMER_IR, UPDATE_DELAY);
}
#endif
return TRUE;
}
MainEvent_t RunEventHandler (void)
{
MainEvent_t returnEvent = NO_EVENT;
uint8_t currentButtonStatus = 0;
//BT Receive Message EVENT
//MPU-9250 Event Handler
if (GetMPU_9250FlagStatus() == NEW_DATA) {
ClearMPU_9250InterruptFlag();
intrruptCount++;
if (AddEventToQueue(MPU_9250_DATA_READY) != ADDED_TO_QUEUE)
returnEvent = QUEUE_FULL;
}
//Joystick Event Handler
if (IsTimerExpired(JOYSTICK_SAMPLE_TIMER)) {
ClearTimerExpiredFlag(JOYSTICK_SAMPLE_TIMER);
InitTimer(JOYSTICK_SAMPLE_TIMER, TIME_JOYSTICK_SAMPLE);
if(AddEventToQueue(SAMPLE_TIMER) != ADDED_TO_QUEUE)
returnEvent = QUEUE_FULL;
}
//Button Event Handler
currentButtonStatus = ReadAllButtons();
if (currentButtonStatus != lastButtonStatus) {
if(AddEventToQueue(BUTTON_PRESSED) != ADDED_TO_QUEUE)
returnEvent = QUEUE_FULL;
lastButtonStatus = currentButtonStatus;
}
//Send BT Data Event Handler
if (IsTimerExpired(SEND_BT_TIMER)) {
ClearTimerExpiredFlag(SEND_BT_TIMER);
InitTimer(SEND_BT_TIMER, TIME_BT_SEND);
if(AddEventToQueue(SEND_TIMER) != ADDED_TO_QUEUE)
returnEvent = QUEUE_FULL;
}
returnEvent = GetEventFromQueue();
return returnEvent;
}
void main(void) {
(void)puts("\r\nIn test harness for timer.c \r\n");
InitTimer();
EnableInterrupts;
StartTimer(1, 2000);
while(1) {
if(IsTimerExpired(1)) {
(void)printf("Egg is Cooked!\r\n");
}
}
}
void CItem::Spawn_OnTick( bool fExec )
{
int iMinutes;
if ( m_itSpawnChar.m_TimeHiMin <= 0 )
{
iMinutes = Calc_GetRandVal(30) + 1;
}
else
{
iMinutes = min( m_itSpawnChar.m_TimeHiMin, m_itSpawnChar.m_TimeLoMin ) + Calc_GetRandVal( abs( m_itSpawnChar.m_TimeHiMin - m_itSpawnChar.m_TimeLoMin ));
}
if ( iMinutes <= 0 )
iMinutes = 1;
if ( !fExec || IsTimerExpired() )
{
SetTimeout( iMinutes * 60 * TICK_PER_SEC ); // set time to check again.
}
if ( ! fExec )
return;
CResourceDef * pDef = Spawn_FixDef();
if ( pDef == NULL )
{
RESOURCE_ID_BASE rid;
if ( IsType(IT_SPAWN_ITEM))
{
rid = m_itSpawnItem.m_ItemID;
}
else
{
rid = m_itSpawnChar.m_CharID;
}
DEBUG_ERR(( "Bad Spawn point uid=0%lx, id=%s\n", (DWORD) GetUID(), g_Cfg.ResourceGetName(rid) ));
return;
}
if ( IsType(IT_SPAWN_ITEM))
{
Spawn_GenerateItem(pDef);
}
else
{
Spawn_GenerateChar(pDef);
}
}
/**
* @Function RunTimerService(ES_Event ThisEvent)
* @param ES_Event - the event to process
* @return ES_NO_EVENT or ES_ERROR
* @brief accepts the timer events and updates the state arrays
* @author Max Dunne 2013.01.04 */
ES_Event RunTimerService(ES_Event ThisEvent) {
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
switch (ThisEvent.EventType) {
case ES_INIT:
break;
case ES_TIMEOUT:
case ES_TIMERACTIVE:
case ES_TIMERSTOPPED:
UserTimerStates[ThisEvent.EventParam] = ThisEvent.EventType;
break;
default:
//ReturnEvent.EventType = ES_ERROR;
break;
}
#ifdef TIMER_SERVICE_TEST
{
uint8_t i;
switch (timerServiceTestingState) {
case init:
if (ThisEvent.EventType == ES_INIT) {
printf("Timer Module INITED succesfully\r\n");
break;
}
printf("Timer %d had event %d at time %d\r\n", ThisEvent.EventParam, ThisEvent.EventType, ES_Timer_GetTime());
if ((ThisEvent.EventParam == (TIMERS_USED - 1)) && (ThisEvent.EventType == ES_TIMERACTIVE)) {
timerServiceTestingState = expired;
printf("Testing timer user functions [expired][stopped][active]{state}\r\n");
}
break;
case expired:
for (i = 0; i < TIMERS_USED; i++) {
printf("(%d):[%d,%d,%d]{%d} ", i, IsTimerExpired(i), IsTimerStopped(i), IsTimerActive(i), GetUserTimerState(i));
}
printf("\r\n");
if ((ThisEvent.EventParam == (TIMERS_USED - 1)) && (ThisEvent.EventType == ES_TIMEOUT)) {
timerServiceTestingState = runstop;
ES_Timer_InitTimer(0, 500);
for (i = 1; i < TIMERS_USED; i++) {
ES_Timer_SetTimer(i, 1000);
ES_Timer_StartTimer(i);
}
}
break;
case runstop:
printf("Timer %d had event %d at time %d\r\n", ThisEvent.EventParam, ThisEvent.EventType, ES_Timer_GetTime());
if ((ThisEvent.EventParam == (0)) && (ThisEvent.EventType == ES_TIMEOUT)) {
for (i = 1; i < TIMERS_USED; i++) {
ES_Timer_StopTimer(i);
}
}
if ((ThisEvent.EventParam == (TIMERS_USED - 1)) && (ThisEvent.EventType == ES_TIMERSTOPPED)) {
printf("Testing of User Timer Functions is complete.\r\n");
}
break;
default:
ReturnEvent.EventType = ES_ERROR;
break;
}
}
#endif
//ES_Tail();
return ReturnEvent;
}
