void LogToFile(DataBuffer* myBuf,char annotation, char* fileName) {
int16_t currentBuf = myBuf->currentReadBuffer;
//uint8_t write_buf[48];
UINT bw;
/* open file */
if (FAT1_open(&fp, fileName, FA_OPEN_ALWAYS|FA_WRITE)!=FR_OK) {
Err(/*OPEN_FILE_ERROR*/);
}
/* move to the end of the file */
if (FAT1_lseek(&fp, fp.fsize) != FR_OK || fp.fptr != fp.fsize) {
Err(/*END_OF_FILE_ERROR*/);
}
/* write data */
write_buf[0] = '\0';
//time_t run_time;
for(int cur_buf_index=0;cur_buf_index<BUFFER_SIZE;++cur_buf_index)
{
/** Time Components */
UTIL1_strcatNum8u(write_buf, sizeof(write_buf), myBuf->dataBuffer[currentBuf][cur_buf_index].time.hour);
UTIL1_chcat(write_buf, sizeof(write_buf), ':');
UTIL1_strcatNum8u(write_buf, sizeof(write_buf), myBuf->dataBuffer[currentBuf][cur_buf_index].time.minute);
UTIL1_chcat(write_buf, sizeof(write_buf), ':');
UTIL1_strcatNum8u(write_buf, sizeof(write_buf), myBuf->dataBuffer[currentBuf][cur_buf_index].time.second);
UTIL1_chcat(write_buf, sizeof(write_buf), ':');
UTIL1_strcatNum8u(write_buf, sizeof(write_buf), myBuf->dataBuffer[currentBuf][cur_buf_index].time.milliBig);
UTIL1_strcatNum8u(write_buf, sizeof(write_buf), myBuf->dataBuffer[currentBuf][cur_buf_index].time.milliSmall);
UTIL1_chcat(write_buf, sizeof(write_buf), ',');
;
/** Accelerometer Components */
UTIL1_strcatNum16s(write_buf, sizeof(write_buf), myBuf->dataBuffer[currentBuf][cur_buf_index].x);
UTIL1_chcat(write_buf, sizeof(write_buf), ',');
UTIL1_strcatNum16s(write_buf, sizeof(write_buf), myBuf->dataBuffer[currentBuf][cur_buf_index].y);
UTIL1_chcat(write_buf, sizeof(write_buf), ',');
UTIL1_strcatNum16s(write_buf, sizeof(write_buf), myBuf->dataBuffer[currentBuf][cur_buf_index].z);
UTIL1_chcat(write_buf, sizeof(write_buf), ',');
/** Annotation mode **/
UTIL1_chcat(write_buf, sizeof(write_buf), annotation);
UTIL1_strcat(write_buf, sizeof(write_buf), (unsigned char*)"\n");
/** Write to file **/
if (FAT1_write(&fp, write_buf, UTIL1_strlen((char*)write_buf), &bw)!=FR_OK) {
(void)FAT1_close(&fp);
Err(/*WRITE_ERROR*/);
}
memset(write_buf,'\0',48);
}
if(myBuf->currentReadBuffer == currentBuf)
myBuf->currentReadBuffer=-1;
/* closing file */
(void)FAT1_close(&fp);
}
static void LogToFile(int16_t x, int16_t y, int16_t z) {
uint8_t write_buf[48];
UINT bw;
TIMEREC time;
/* open file */
if (FAT1_open(&fp, "./log.txt", FA_OPEN_ALWAYS|FA_WRITE)!=FR_OK) {
Err();
}
/* move to the end of the file */
if (FAT1_lseek(&fp, fp.fsize) != FR_OK || fp.fptr != fp.fsize) {
Err();
}
/* get time */
if (TmDt1_GetTime(&time)!=ERR_OK) {
Err();
}
/* write data */
write_buf[0] = '\0';
UTIL1_strcatNum8u(write_buf, sizeof(write_buf), time.Hour);
UTIL1_chcat(write_buf, sizeof(write_buf), ':');
UTIL1_strcatNum8u(write_buf, sizeof(write_buf), time.Min);
UTIL1_chcat(write_buf, sizeof(write_buf), ':');
UTIL1_strcatNum8u(write_buf, sizeof(write_buf), time.Sec);
UTIL1_chcat(write_buf, sizeof(write_buf), '\t');
UTIL1_strcatNum16s(write_buf, sizeof(write_buf), x);
UTIL1_chcat(write_buf, sizeof(write_buf), '\t');
UTIL1_strcatNum16s(write_buf, sizeof(write_buf), y);
UTIL1_chcat(write_buf, sizeof(write_buf), '\t');
UTIL1_strcatNum16s(write_buf, sizeof(write_buf), z);
UTIL1_strcat(write_buf, sizeof(write_buf), (unsigned char*)"\r\n");
if (FAT1_write(&fp, write_buf, UTIL1_strlen((char*)write_buf), &bw)!=FR_OK) {
(void)FAT1_close(&fp);
Err();
}
/* closing file */
(void)FAT1_close(&fp);
}
/*!
\brief This routine is called as callback by the radio driver on reception of a data packet
\param msg Pointer to the message we received.
*/
static void RADIO_HandleMessage(uint8_t *msg) {
char buf[32];
uint8_t i, size;
if (RADIO_isSniffing && *msg==RADIO_QUEUE_MSG_SNIFF) {
msg++;
size = *msg++;
UTIL1_strcpy(buf, sizeof(buf), "\r\nch #:"); /* use new line at the beginning, as the hex dump at the end might be fill up buffer completely */
UTIL1_strcatNum16s(buf, sizeof(buf), RADIO_Channel);
UTIL1_strcat(buf, sizeof(buf), " size:");
UTIL1_strcatNum16s(buf, sizeof(buf), size);
UTIL1_strcat(buf, sizeof(buf), " ASCII: ");
SHELL_SendMessage(buf);
buf[0] = '\0';
/* write as string */
for(i=0;i<size && i<sizeof(buf);i++) {
UTIL1_chcat(buf, sizeof(buf), msg[i]);
}
SHELL_SendMessage(buf);
/* write as hex */
buf[0] = '\0';
UTIL1_strcat(buf, sizeof(buf), " hex: ");
for(i=0; i<size;i++) {
UTIL1_strcatNum8Hex(buf, sizeof(buf), msg[i]);
UTIL1_strcat(buf, sizeof(buf), " ");
}
SHELL_SendMessage(buf);
SHELL_SendMessage("\r\n");
#if PL_HAS_REMOTE && PL_HAS_MOTOR
/*! \todo Implement handling for your remote control */
} else if (*msg==RADIO_QUEUE_MSG_ACCEL) {
msg++;
size = *msg++;
REMOTE_ParseMsg((const unsigned char*)msg+sizeof(RADIO_PREFIX_STR)-1, size-sizeof(RADIO_PREFIX_STR)-1);
#endif
}
}
static uint8_t PrintStatus(const CLS1_StdIOType *io) {
unsigned char buf[15];
int i;
CLS1_SendStatusStr((unsigned char*)"Reflectance", (unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" led", ledON?(unsigned char*)"on\r\n":(unsigned char*)"off\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" calibrated", isCalibrated?(unsigned char*)"yes\r\n":(unsigned char*)"no\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" raw", (unsigned char*)"", io->stdOut);
for (i=0;i<NOF_SENSORS;i++) {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorRaw[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" white", (unsigned char*)"", io->stdOut);
for (i=0;i<NOF_SENSORS;i++) {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorWhite[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" black", (unsigned char*)"", io->stdOut);
for (i=0;i<NOF_SENSORS;i++) {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorBlack[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" calibrated", (unsigned char*)"", io->stdOut);
for (i=0;i<NOF_SENSORS;i++) {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorCalibrated[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" line", (unsigned char*)"", io->stdOut);
buf[0] = '\0'; UTIL1_strcatNum16s(buf, sizeof(buf), refLine);
CLS1_SendStr(buf, io->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
return ERR_OK;
}
static uint8_t PrintStatus(const CLS1_StdIOType *io) {
int i;
uint8_t buf[16], buf2[32];
CLS1_SendStatusStr((uint8_t*)"Floppy", (uint8_t*)"\r\n", io->stdOut);
UTIL1_Num32sToStr(buf, sizeof(buf), FLOPPY_NoteOffset);
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)"\r\n");
CLS1_SendStatusStr((uint8_t*)" note offset", buf, io->stdOut);
for(i=0;i<FLOPPY_NOF_DRIVES;i++) {
UTIL1_strcpy(buf, sizeof(buf), (uint8_t*)" drive ");
UTIL1_strcatNum16u(buf, sizeof(buf), (uint16_t)i);
UTIL1_chcat(buf, sizeof(buf), ':');
buf2[0] = '\0';
if (FLOPPY_Drives[i].forward) {
UTIL1_strcat(buf2, sizeof(buf2), (uint8_t*)"fw ");
} else {
UTIL1_strcat(buf2, sizeof(buf2), (uint8_t*)"bw ");
}
UTIL1_strcatNum16s(buf2, sizeof(buf2), FLOPPY_Drives[i].pos);
UTIL1_strcat(buf2, sizeof(buf2), (uint8_t*)"\r\n");
CLS1_SendStatusStr(buf, buf2, io->stdOut);
}
return ERR_OK;
}
static uint8_t PrintStatus(const CLS1_StdIOType *io) {
unsigned char buf[24];
int i;
CLS1_SendStatusStr((unsigned char*)"reflectance", (unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" state", REF_GetStateString(), io->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), REF_MIN_NOISE_VAL);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
CLS1_SendStatusStr((unsigned char*)" min noise", buf, io->stdOut);
CLS1_SendStatusStr((unsigned char*)" raw val", (unsigned char*)"", io->stdOut);
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorRaw[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" min val", (unsigned char*)"", io->stdOut);
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorCalibMinMax.minVal[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" max val", (unsigned char*)"", io->stdOut);
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorCalibMinMax.maxVal[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" calib val", (unsigned char*)"", io->stdOut);
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorCalibrated[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" line val", (unsigned char*)"", io->stdOut);
buf[0] = '\0'; UTIL1_strcatNum16s(buf, sizeof(buf), refCenterLineVal);
CLS1_SendStr(buf, io->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
#if PL_CONFIG_HAS_LINE_FOLLOW
CLS1_SendStatusStr((unsigned char*)" line kind", REF_LineKindStr(refLineKind), io->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
#endif
return ERR_OK;
}
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_HAS_JOYSTICK
(void) APP_GetXY_Joystick(&midPointX, &midPointY, NULL, NULL);
#endif
FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);
for (;;) {
if (REMOTE_isOn) {
#if PL_HAS_ACCEL
if(REMOTE_useAccel){
uint8_t buf[6];
int16_t x, y, z;
/*send periodically messages*/
ACCEL_getXYZmg(&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 (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*) "\r\n y: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), y);
UTIL1_strcat(txtBuf, sizeof(txtBuf),
(unsigned char*) "\r\n z: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), z);
UTIL1_strcat(txtBuf, sizeof(txtBuf),
(unsigned char*) "\r\n 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) {
uint8_t buf[2];
int16_t x, y;
int8_t x8, y8;
/* send periodically messages */
APP_GetXY_Joystick(&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_RATE_MS);
} else {
FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);
}
} /* for */
void RAPP_SniffPacket(RPHY_PacketDesc *packet, bool isTx) {
uint8_t buf[32];
const CLS1_StdIOType *io;
int i;
uint8_t dataSize;
RNWK_ShortAddrType addr;
io = CLS1_GetStdio();
if (isTx) {
CLS1_SendStr((unsigned char*)"Packet Tx ", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)"Packet Rx ", io->stdOut);
}
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"flags: ");
UTIL1_strcatNum16s(buf, sizeof(buf), packet->flags);
CLS1_SendStr(buf, io->stdOut);
if (packet->flags!=RPHY_PACKET_FLAGS_NONE) {
CLS1_SendStr((unsigned char*)"(", io->stdOut);
if (packet->flags&RPHY_PACKET_FLAGS_IS_ACK) {
CLS1_SendStr((unsigned char*)"IS_ACK,", io->stdOut);
}
if (packet->flags&RPHY_PACKET_FLAGS_REQ_ACK) {
CLS1_SendStr((unsigned char*)"REQ_ACK", io->stdOut);
}
CLS1_SendStr((unsigned char*)")", io->stdOut);
}
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)" size: ");
UTIL1_strcatNum16s(buf, sizeof(buf), packet->phySize);
CLS1_SendStr(buf, io->stdOut);
/* PHY */
CLS1_SendStr((unsigned char*)" PHY data: ", io->stdOut);
dataSize = RPHY_BUF_SIZE(packet->phyData);
for(i=0; i<dataSize+RPHY_HEADER_SIZE;i++) {
buf[0] = '\0';
UTIL1_strcatNum8Hex(buf, sizeof(buf), packet->phyData[i]);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" ");
CLS1_SendStr(buf, io->stdOut);
}
/* MAC */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)" MAC size:");
UTIL1_strcatNum8u(buf, sizeof(buf), dataSize);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" type:");
UTIL1_strcatNum8Hex(buf, sizeof(buf), RMAC_BUF_TYPE(packet->phyData));
CLS1_SendStr(buf, io->stdOut);
RMAC_DecodeType(buf, sizeof(buf), packet);
CLS1_SendStr(buf, io->stdOut);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)" s#:");
UTIL1_strcatNum8Hex(buf, sizeof(buf), RMAC_BUF_SEQN(packet->phyData));
CLS1_SendStr(buf, io->stdOut);
/* NWK */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)" NWK src:");
addr = RNWK_BUF_GET_SRC_ADDR(packet->phyData);
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(buf, sizeof(buf), addr);
#else
UTIL1_strcatNum16Hex(buf, sizeof(buf), addr);
#endif
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" dst:");
addr = RNWK_BUF_GET_DST_ADDR(packet->phyData);
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(buf, sizeof(buf), addr);
#else
UTIL1_strcatNum16Hex(buf, sizeof(buf), addr);
#endif
CLS1_SendStr(buf, io->stdOut);
/* APP */
if (dataSize>RMAC_HEADER_SIZE+RNWK_HEADER_SIZE) { /* there is application data */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)" APP type:");
UTIL1_strcatNum8Hex(buf, sizeof(buf), RAPP_BUF_TYPE(packet->phyData));
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" size:");
UTIL1_strcatNum8Hex(buf, sizeof(buf), RAPP_BUF_SIZE(packet->phyData));
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
}
static portTASK_FUNCTION(TaskAccelDemo, pvParameters) {
int16_t x,y,z;
ACCEL_WindowDesc *ui = (ACCEL_WindowDesc*)pvParameters;
unsigned char buf[sizeof("X: 123")];
UIG1_DataPoint data[3], prevData[3];
appWp = ui;
#if PL_APP_MODE_I2C_LCD
I2C_ClearBuffers();
#endif
data[0].color = UI1_COLOR_RED;
data[0].data = 0;
data[1].color = UI1_COLOR_BLUE;
data[1].data = 0;
data[2].color = UI1_COLOR_DARK_GREEN;
data[3].data = 0;
prevData[0].color = UI1_COLOR_RED;
prevData[0].data = 0;
prevData[1].color = UI1_COLOR_BLUE;
prevData[1].data = 0;
prevData[2].color = UI1_COLOR_DARK_GREEN;
prevData[2].data = 0;
for (;;) {
/* we are getting the values in milli-g (means: around -1200 to +1200 */
#if PL_HAS_AUTO_DEMO && PL_HAS_HW_ACCELEROMETER
/* for demo, make values more interesting */
x = ACCEL1_GetX();
y = ACCEL1_GetY();
z = ACCEL1_GetZ();
while (z>900) { /* put in range */
z /= 2;
}
#else
x = ACCEL_GetX();
y = ACCEL_GetY();
z = ACCEL_GetZ();
#endif
/* cap to -100..+100 */
x /= 11; /* little bit more than 10, just to have 1g not always hitting the limit of 100% */
y /= 11;
z /= 11;
/* make sure it is in the -100..+100 range */
if (x>100) {
x = 100;
}
else if (x<-100) {
x = -100;
}
if (y>100) {
y = 100;
}
else if (y<-100) {
y = -100;
}
if (z>100) {
z = 100;
}
else if (z<-100) {
z = -100;
}
/* midpoint of graph is at 50% */
x = 50+(x/2); /* scale between 0..100% */
y = 50+(y/2); /* scale between 0..100% */
z = 50+(z/2); /* scale between 0..100% */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"X: ");
UTIL1_strcatNum16s(buf, sizeof(buf), x);
UI1_ChangeText(&ui->window, (UI1_Element *)&ui->txtX, sizeof(ui->txtBufX), buf);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"Y: ");
UTIL1_strcatNum16s(buf, sizeof(buf), y);
UI1_ChangeText(&ui->window, (UI1_Element *)&ui->txtY, sizeof(ui->txtBufY), buf);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"Z: ");
UTIL1_strcatNum16s(buf, sizeof(buf), z);
UI1_ChangeText(&ui->window, (UI1_Element *)&ui->txtZ, sizeof(ui->txtBufZ), buf);
(void)UI1_ChangeBarGraphData(&ui->window, &ui->accelBarGraph, 0, (uint8_t)x);
(void)UI1_ChangeBarGraphData(&ui->window, &ui->accelBarGraph, 1, (uint8_t)y);
(void)UI1_ChangeBarGraphData(&ui->window, &ui->accelBarGraph, 2, (uint8_t)z);
/* graph */
data[0].data = (uint8_t)x;
data[1].data = (uint8_t)y;
data[2].data = (uint8_t)z;
(void)UIG1_AddDataLine((UI1_Element *)&ui->graph, &prevData[0], &data[0], 3);
prevData[0].data = data[0].data;
prevData[1].data = data[1].data;
prevData[2].data = data[2].data;
if (EVNT1_GetEvent(EVNT1_APP_MODE_CHANGE)) { /* request to close application */
EVNT1_ClearEvent(EVNT1_APP_MODE_CHANGE); /* reset event flag */
FRTOS1_vTaskDelete(NULL); /* kill ourself */
}
FRTOS1_vTaskDelay(25/portTICK_RATE_MS);
} /* for */
}
static uint8_t PrintStatus(const CLS1_StdIOType *io) {
unsigned char buf[24];
int i;
CLS1_SendStatusStr((unsigned char*)"reflectance", (unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" IR led on", ledON?(unsigned char*)"yes\r\n":(unsigned char*)"no\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" calibrating", doMinMaxCalibration?(unsigned char*)"yes\r\n":(unsigned char*)"no\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" calibrated", isCalibrated?(unsigned char*)"yes\r\n":(unsigned char*)"no\r\n", io->stdOut);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), REF_MIN_NOISE_VAL);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
CLS1_SendStatusStr((unsigned char*)" min noise", buf, io->stdOut);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), REF_MIN_LINE_VAL);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
CLS1_SendStatusStr((unsigned char*)" min line", buf, io->stdOut);
CLS1_SendStatusStr((unsigned char*)" raw val", (unsigned char*)"", io->stdOut);
#if REF_SENSOR1_IS_LEFT
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
#else
for (i=REF_NOF_SENSORS-1;i>=0;i--) {
if (i==REF_NOF_SENSORS-1) {
#endif
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorRaw[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" min val", (unsigned char*)"", io->stdOut);
#if REF_SENSOR1_IS_LEFT
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
#else
for (i=REF_NOF_SENSORS-1;i>=0;i--) {
if (i==REF_NOF_SENSORS-1) {
#endif
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorMin[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" max val", (unsigned char*)"", io->stdOut);
#if REF_SENSOR1_IS_LEFT
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
#else
for (i=REF_NOF_SENSORS-1;i>=0;i--) {
if (i==REF_NOF_SENSORS-1) {
#endif
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorMax[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" calib val", (unsigned char*)"", io->stdOut);
#if REF_SENSOR1_IS_LEFT
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
#else
for (i=REF_NOF_SENSORS-1;i>=0;i--) {
if (i==REF_NOF_SENSORS-1) {
#endif
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorCalibrated[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" line val", (unsigned char*)"", io->stdOut);
buf[0] = '\0'; UTIL1_strcatNum16s(buf, sizeof(buf), refCenterLineVal);
CLS1_SendStr(buf, io->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
#if PL_APP_LINE_MAZE
#if REF_SENSOR1_IS_LEFT
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
#else
for (i=REF_NOF_SENSORS-1;i>=0;i--) {
if (i==REF_NOF_SENSORS-1) {
#endif
CLS1_SendStatusStr((unsigned char*)" history", (unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorHistory[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
#endif
CLS1_SendStatusStr((unsigned char*)" line kind", REF_LineKindStr(refLineKind), io->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
return ERR_OK;
}
byte REF_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
if (UTIL1_strcmp((char*)cmd, CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, "ref help")==0) {
*handled = TRUE;
return PrintHelp(io);
} else if ((UTIL1_strcmp((char*)cmd, CLS1_CMD_STATUS)==0) || (UTIL1_strcmp((char*)cmd, "ref status")==0)) {
*handled = TRUE;
return PrintStatus(io);
} else if (UTIL1_strcmp((char*)cmd, "ref calib on")==0) {
APP_StateStartCalibrate();
*handled = TRUE;
return ERR_OK;
} else if (UTIL1_strcmp((char*)cmd, "ref calib off")==0) {
APP_StateStopCalibrate();
*handled = TRUE;
return ERR_OK;
} else if (UTIL1_strcmp((char*)cmd, "ref led on")==0) {
ledON = TRUE;
*handled = TRUE;
return ERR_OK;
} else if (UTIL1_strcmp((char*)cmd, "ref led off")==0) {
ledON = FALSE;
*handled = TRUE;
return ERR_OK;
}
return ERR_OK;
}
uint16_t REF_GetLineValue(bool *onLine) {
*onLine = refCenterLineVal>0 && refCenterLineVal<REF_MAX_LINE_VALUE;
return refCenterLineVal;
}
static portTASK_FUNCTION(ReflTask, pvParameters) {
(void)pvParameters; /* not used */
for(;;) {
if (doMinMaxCalibration) {
REF_CalibrateMinMax(SensorMin, SensorMax, SensorRaw);
#if PL_HAS_BUZZER
BUZ_Beep(300, 50);
#endif
} else {
REF_Measure();
}
FRTOS1_vTaskDelay(10/portTICK_RATE_MS);
}
}
void REF_Init(void) {
refLineKind = REF_LINE_NONE;
refCenterLineVal = 0;
mutexHandle = FRTOS1_xSemaphoreCreateMutex();
if (mutexHandle==NULL) {
for(;;);
}
timerHandle = RefCnt_Init(NULL);
REF_InitSensorValues();
if (FRTOS1_xTaskCreate(ReflTask, (signed portCHAR *)"Refl", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1+2, NULL) != pdPASS) {
for(;;){} /* error */
}
}
