extern void eom_emsappl_hid_userdef_on_exit_RUN(EOMtheEMSappl* p)
{
// EOtheCANservice: set straigth mode and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
eo_canserv_ParseAll(eo_canserv_GetHandle());
// stop services
// motion-control
eo_motioncontrol_Stop(eo_motioncontrol_GetHandle());
eo_motioncontrol_Deactivate(eo_motioncontrol_GetHandle());
// stop tx activity of services that may have been started by callback function
// strain... no strain in here
// eo_strain_Stop(eo_strain_GetHandle());
// eo_strain_Deactivate(eo_strain_GetHandle());
// skin
eo_skin_Stop(eo_skin_GetHandle());
eo_skin_Deactivate(eo_skin_GetHandle());
// mais
eo_mais_Stop(eo_mais_GetHandle());
eo_mais_Deactivate(eo_mais_GetHandle());
// inertials
eo_inertials2_Stop(eo_inertials2_GetHandle());
eo_inertials2_Deactivate(eo_inertials2_GetHandle());
}
extern void eom_emsappl_hid_userdef_on_exit_RUN(EOMtheEMSappl* p)
{
eOresult_t res = eores_NOK_generic;
// set run mode straigth. then read all can frames received
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
const uint8_t maxframes2read = 255; // 255 is the max number possible. the function however exits when all canframes are
eo_canserv_Parse(eo_canserv_GetHandle(), eOcanport1, maxframes2read, NULL);
eo_canserv_Parse(eo_canserv_GetHandle(), eOcanport2, maxframes2read, NULL);
// stop skin. the check whether to stop skin or not is done internally.
eo_skin_DisableTX(eo_skin_GetHandle());
// stop motion control
res = eo_emsapplBody_DisableTxAllJointOnCan(eo_emsapplBody_GetHandle());
if (eores_NOK_generic == res)
{
// handle the error ... not important
}
// stop tx of strain, if present
eo_strain_DisableTX(eo_strain_GetHandle());
}
extern void eom_emsappl_hid_userdef_on_entry_RUN(EOMtheEMSappl* p)
{
eOresult_t res = eores_NOK_generic;
// enable joints
res = eo_emsapplBody_EnableTxAllJointOnCan(eo_emsapplBody_GetHandle());
if (eores_NOK_generic == res)
{
//handle the error
}
// enable the tx mode of strain, if present and as configured
eo_strain_SendTXmode(eo_strain_GetHandle());
// pulse led3 forever at 1 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/1, 0);
// set mode on demand. then tx all canframes remained in the tx queue
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_ondemand);
eo_canserv_TXstart(eo_canserv_GetHandle(), eOcanport1, NULL);
eo_canserv_TXstart(eo_canserv_GetHandle(), eOcanport2, NULL);
eo_canserv_TXwaituntildone(eo_canserv_GetHandle(), eOcanport1, 5*eok_reltime1ms);
eo_canserv_TXwaituntildone(eo_canserv_GetHandle(), eOcanport2, 5*eok_reltime1ms);
// Start reading the encoders
eo_appEncReader_StartRead(eo_emsapplBody_GetEncoderReader(eo_emsapplBody_GetHandle()));
}
extern void eom_emsappl_hid_userdef_on_entry_ERR(EOMtheEMSappl* p)
{
// pulse led3 forever at 4 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/4, 0);
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
const uint8_t maxframes2read = 255; // 255 is the max number possible. the function however exits when all canframes are
eo_canserv_Parse(eo_canserv_GetHandle(), eOcanport1, maxframes2read, NULL);
eo_canserv_Parse(eo_canserv_GetHandle(), eOcanport2, maxframes2read, NULL);
}
extern void eom_emsappl_hid_userdef_on_entry_CFG(EOMtheEMSappl* p)
{
// pulse led3 forever at 0.50 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, 2*EOK_reltime1sec, 0);
// set the EOtheCANservice to be on event and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
const uint8_t maxframes2read = 255; // 255 is the max number possible. the function however exits when all canframes are
eo_canserv_Parse(eo_canserv_GetHandle(), eOcanport1, maxframes2read, NULL);
eo_canserv_Parse(eo_canserv_GetHandle(), eOcanport2, maxframes2read, NULL);
}
// marco.accame on Nov 26 2014: the user-defined emsconfigurator_evt_userdef00 is triggered by the EOtheEMSapplBody to
// tell the EOMtheEMSconfigurator that has received a CAN frame.
extern void eom_emsconfigurator_hid_userdef_ProcessUserdef00Event(EOMtheEMSconfigurator* p)
{
static uint32_t count_msg = 0;
count_msg++;
// in here we want to read all can frames that we have on can1 (can2 is not supported on MC4plus)
uint8_t numofrxframes = 0;
if(0 != (numofrxframes = eo_canserv_NumberOfFramesInRXqueue(eo_canserv_GetHandle(), eOcanport1)))
{
eo_canserv_Parse(eo_canserv_GetHandle(), eOcanport1, numofrxframes, NULL);
}
}
extern void eom_emsappl_hid_userdef_on_entry_RUN(EOMtheEMSappl* p)
{
// pulse led3 forever at 1 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/1, 0);
// EOtheCANservice: set on demand mode. then tx all canframes remained in the tx queues
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_ondemand);
eo_canserv_TXstartAll(eo_canserv_GetHandle(), NULL, NULL);
eo_canserv_TXwaitAllUntilDone(eo_canserv_GetHandle(), 5*eok_reltime1ms);
// tell the ethmonitor to alert no task, because the runner will tick it now at every cycle
// eo_ethmonitor_SetAlert(eo_ethmonitor_GetHandle(), NULL, 0);
// we dont start services.
}
extern void eom_emsappl_hid_userdef_on_entry_CFG(EOMtheEMSappl* p)
{
// pulse led3 forever at 0.50 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, 2*EOK_reltime1sec, 0);
// EOtheCANservice: set straight mode and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
eo_canserv_ParseAll(eo_canserv_GetHandle());
// tell the ethmonitor to alert the task of the configurator
// eo_ethmonitor_SetAlert(eo_ethmonitor_GetHandle(), eom_emsconfigurator_GetTask(eom_emsconfigurator_GetHandle()), emsconfigurator_evt_userdef02);
// prefer sending a tx request just in case. because cfg state transmit only if requested an we dont want to have missed a previous request.
eom_task_SetEvent(eom_emsconfigurator_GetTask(eom_emsconfigurator_GetHandle()), emsconfigurator_evt_ropframeTx);
}
extern void eom_emsappl_hid_userdef_on_entry_ERR(EOMtheEMSappl* p)
{
// pulse led3 forever at 4 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/4, 0);
// EOtheCANservice: set straight mode and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
eo_canserv_ParseAll(eo_canserv_GetHandle());
// stop services which may have been started
// motion-control
eo_motioncontrol_Stop(eo_motioncontrol_GetHandle());
eo_motioncontrol_Deactivate(eo_motioncontrol_GetHandle());
// stop tx activity of services that may have been started by callback function
// strain... no strain in here
// eo_strain_Stop(eo_strain_GetHandle());
// eo_strain_Deactivate(eo_strain_GetHandle());
// skin
eo_skin_Stop(eo_skin_GetHandle());
eo_skin_Deactivate(eo_skin_GetHandle());
// mais
eo_mais_Stop(eo_mais_GetHandle());
eo_mais_Deactivate(eo_mais_GetHandle());
// inertials
eo_inertials2_Stop(eo_inertials2_GetHandle());
eo_inertials2_Deactivate(eo_inertials2_GetHandle());
// inertials3
eo_inertials3_Stop(eo_inertials3_GetHandle());
eo_inertials3_Deactivate(eo_inertials3_GetHandle());
// temperatures
eo_temperatures_Stop(eo_temperatures_GetHandle());
eo_temperatures_Deactivate(eo_temperatures_GetHandle());
}
