void REF_Danger(void){
int i = 0;
uint8_t sensor = 0;
bool temp;
if(!EVNT_EventIsSet(EVNT_DONT_FALL_DOWN))
for( i=0;i<REF_NOF_SENSORS;i++) {
if(SensorCalibrated[i] < 1000-THRESHOLD_BLK && SensorCalibrated[i]!=0 ){
sensor = i;
if(fightOn){
fight_state = WHITE_LINE_DETECTION;
FRTOS1_vTaskSuspend(checkRefl);
}
if(remoteOn){
EVNT_SetEvent(EVNT_REMOTE_DEACTIVATE);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), -30);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), -30);
vTaskDelay(500/TRG_TICKS_MS);
EVNT_SetEvent(EVNT_REMOTE_ACTIVATE);
}
else {
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT) , 0);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0);
EVNT_SetEvent(EVNT_DONT_FALL_DOWN);
FRTOS1_vTaskSuspend(checkRefl);
}
}
}
}
void RADIO_DataIndicationPacket(tRxPacket *sRxPacket) {
if (sRxPacket->u8Status==SMAC1_TIMEOUT) { /* Put timeout condition code here */
LED1_Neg(); LED2_Neg(); /* indicator for bad or no communication */
EVNT_SetEvent(EVNT_RADIO_TIMEOUT);
} else if (sRxPacket->u8Status == SMAC1_SUCCESS) { /* good packet received: handle it. */
if (RADIO_isSniffing) {
QueueMessage(RADIO_QUEUE_MSG_SNIFF, (const char*)sRxPacket->pu8Data, sRxPacket->u8DataLength);
}
/* check if it is the packet we expect...*/
if ( RADIO_AppStatus==RADIO_WAITING_FOR_ACK
&& UTIL1_strncmp((char*)sRxPacket->pu8Data, RADIO_PREFIX_STR RADIO_ACK_STR, sizeof(RADIO_PREFIX_STR RADIO_ACK_STR)-1)==0
) /* is it our acknowledge packet? */
{
EVNT_SetEvent(EVNT_RADIO_ACK);
} else if (UTIL1_strncmp((char*)sRxPacket->pu8Data, RADIO_PREFIX_STR, sizeof(RADIO_PREFIX_STR)-1)==0) {
#if PL_HAS_REMOTE && PL_HAS_MOTOR
/*! \todo Implement your own message handling */
if (UTIL1_strncmp((char*)sRxPacket->pu8Data, RADIO_PREFIX_STR REMOTE_ACCEL_PREFIX, sizeof(RADIO_PREFIX_STR REMOTE_ACCEL_PREFIX)-1)==0) {
QueueMessage(RADIO_QUEUE_MSG_ACCEL, (const char*)sRxPacket->pu8Data, sRxPacket->u8DataLength);
}
#endif
EVNT_SetEvent(EVNT_RADIO_DATA);
} else { /* unknown packet? */
EVNT_SetEvent(EVNT_RADIO_UNKNOWN);
}
} else if (sRxPacket->u8Status==SMAC1_OVERFLOW) { /* received packet, but it was longer than what we expect. */
EVNT_SetEvent(EVNT_RADIO_OVERFLOW);
LED1_Neg(); LED2_Neg(); /* indicator for bad or no communication */
}
}
static void App(void) {
#if PL_CONFIG_HAS_SHELL
int cntr = 0;
#endif
EVNT_SetEvent(EVNT_STARTUP);
for(;;) {
#if PL_CONFIG_HAS_EVENTS
#if PL_CONFIG_EVENTS_AUTO_CLEAR
EVNT_HandleEvent(APP_EvntHandler, TRUE);
#else
EVNT_HandleEvent(APP_EvntHandler, FALSE);
#endif
#endif
#if PL_CONFIG_HAS_KEYS
KEY_Scan();
#endif
#if PL_CONFIG_HAS_TETIRS
WAIT1_Waitms(50);
if (TETRIS_Run()==0) {
TETRIS_Start();
}
#else
#if PL_CONFIG_HAS_SHELL
#endif
#endif
}
}
void APP_Run(void) {
#if PL_HAS_RTOS_TRACE
if (!RTOSTRC1_uiTraceStart()) {
for(;;) {} /* failed! */
}
#endif
EVNT_SetEvent(EVNT_INIT);
#if PL_HAS_RTOS
if (FRTOS1_xTaskCreate(
MainTask, /* pointer to the task */
"Main", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS ) {
/*lint -e527 */
for (;;) {
} /* error! probably out of memory */
/*lint +e527 */
}
FRTOS1_vTaskStartScheduler();
#else
APP_Loop();
#endif
}
void APP_Start(void) {
EVNT_SetEvent(EVNT_INIT);
#if PL_HAS_RTOS
if (FRTOS1_xTaskCreate(
MainTask, /* pointer to the task */
"Main", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){} /* error! probably out of memory */
/*lint +e527 */
}
FRTOS1_vTaskStartScheduler();
#else
for(;;) { /* application main loop */
#if PL_HAS_SHELL
SHELL_Process();
#endif
#if PL_HAS_KEYS && !PL_HAS_KBI
/* poll keys */
KEY_Scan(); /* poll keys */
#endif
EVNT_HandleEvent(APP_HandleEvent);
WAIT1_Waitms(10);
}
#endif
}
void TMR_OnInterrupt(void) {
cnt++;
if(cnt>1000){
cnt = 0;
EVNT_SetEvent(EVNT_HEARTBEAT);
}
}
void APP_Start(void) {
PL_Init(); /* platform initialization */
//TEST_Test();
EVNT_SetEvent(EVNT_INIT); /* set initial event */
#if PL_HAS_RTOS
if (FRTOS1_xTaskCreate(AppTask, (signed portCHAR *)"App", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
RTOS_Run();
#else
APP_Loop();
#endif
#if 0
for(;;) {
#if PL_HAS_MEALY
MEALY_Step();
#else
LED1_On();
WAIT1_Waitms(300);
LED1_Off();
LED2_On();
WAIT1_Waitms(300);
LED2_Off();
LED3_On();
WAIT1_Waitms(300);
LED3_Off();
#endif
}
#endif
/* just in case we leave the main application loop */
PL_Deinit();
}
void TaskLoop(void *pvParameters){
int16_t x,y,z;
#if PL_HAS_ACCEL
ACCEL_LowLevelInit();
#endif
(void)pvParameters;
for(;;){
#if PL_HAS_KEYS
KEY_Scan();
#endif
#if PL_HAS_LINE_SENSOR
typ = Line_Detection();
if(typ!=LINE_STATE_NO_LINE){
EVNT_SetEvent(EVNT_LINE);
}
switch(typ) {
case LINE_STATE_LEFT:
EVNT_SetEvent(EVNT_LINE_LEFT);
break;
case LINE_STATE_RIGHT:
EVNT_SetEvent(EVNT_LINE_RIGHT);
break;
case LINE_STATE_AHEAD:
EVNT_SetEvent(EVNT_LINE);
break;
case LINE_STATE_MIDDLE:
EVNT_SetEvent(EVNT_LINE);
break;
case LINE_STATE_NO_LINE:
/* No event */
break;
case LINE_STATE_LINE:
EVNT_SetEvent(EVNT_LINE);
break;
case LINE_STATE_ERR:
EVNT_SetEvent(EVNT_LINE);
break;
default:
/* No event */
break;
}
#endif
#if PL_HAS_ACCEL
ACCEL_GetValues(&x,&y,&z);
if(z < Z_ACCEL_THRESHOLD){
EVNT_SetEvent(EVNT_ACCEL);
}
#endif
#if PL_HAS_EVENTS
EVNT_HandleEvent(APP_EventHandler);
#endif
FRTOS1_vTaskDelay(5/portTICK_RATE_MS);
}
}
void APP_Start(void) {
PL_Init(); /* platform initialization */
EVNT_SetEvent(EVNT_INIT);
#if PL_HAS_RTOS
RTOS_Run();
#else
APP_Loop();
#endif
}
/*! \brief Function for starting the Application. Inits and Start the RTOS */
void APP_Start(void) {
PL_Init(); /* platform initialization */
EVNT_SetEvent(EVNT_INIT); /* set initial event */
//Create application Task
if (FRTOS1_xTaskCreate(APPTask, (signed portCHAR *)"APP_Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
RTOS_Run();
}
static portTASK_FUNCTION(AccelObserv, pvParameters) {
for(;;) {
static int16_t x,y,z;
ACCEL_GetValues(&x, &y, &z);
if(z < -200){
EVNT_SetEvent(EVNT_FREEFALL);
}
FRTOS1_vTaskDelay(10/TRG_TICKS_MS);
}
}
void TMR_OnInterrupt(void) {
/* this one gets called from an interrupt!!!! */
static int cntr=0;
cntr++;
if (cntr==(1000/TMR_TICK_MS)) {
#if 1 /* setting an event */
EVNT_SetEvent(EVENT_LED_HEARTBEAT);
#else /* toggling directly the LED */
LED1_Neg();
#endif
cntr = 0;
}
#if PL_HAS_TRIGGER
TRG_IncTick(); //Increment the Trigger (10ms are over)
#endif
}
static void AppTask(void* param) {
EVNT_SetEvent(EVNT_STARTUP); /* set startup event */
for(;;) {
#if PL_CONFIG_HAS_EVENTS
#if PL_CONFIG_EVENTS_AUTO_CLEAR
EVNT_HandleEvent(APP_EvntHandler, TRUE);
#else
EVNT_HandleEvent(APP_EvntHandler, FALSE);
#endif
#endif
#if PL_CONFIG_HAS_KEYS && PL_CONFIG_NOF_KEYS>0 && !PL_CONFIG_HAS_KBI
KEY_Scan(); /* scan keys */
#endif
//LED1_Neg();
FRTOS1_vTaskDelay(5/portTICK_RATE_MS);
}
}
void RTOS_Init(void) {
static const int led1 = 1;
static const int led2 = 2;
EVNT_SetEvent(EVNT_STARTUP); /* set startup event */
/*! \todo Create tasks here */
if (FRTOS1_xTaskCreate(AppTask, (signed portCHAR *)"App1", configMINIMAL_STACK_SIZE, (void*)&led1, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error case only, stay here! */
}
#if 0
if (FRTOS1_xTaskCreate(AppTask, (signed portCHAR *)"App2", configMINIMAL_STACK_SIZE, (void*)&led2, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error case only, stay here! */
}
if (FRTOS1_xTaskCreate(KillMe, (signed portCHAR *)"KillMe", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error case only, stay here! */
}
#endif
}
void TMR_OnInterrupt(void) {
/* this one gets called from an interrupt!!!! */
static int cntr=0;
cntr++;
if (cntr==(1000/TMR_TICK_MS)) {
#if 1 /* setting an event */
EVNT_SetEvent(EVENT_LED_HEARTBEAT);
#else /* toggling directly the LED */
LED1_Neg();
#endif
cntr = 0;
}
#if PL_HAS_TRIGGER
TRG_IncTick();
#endif
TMOUT1_AddTick();
#if PL_HAS_MOTOR_TACHO
TACHO_Sample();
#endif
}
void KEY_Scan(void) {
/*! check handling all keys */
#if PL_CONFIG_HAS_DEBOUNCE
KEYDBNC_Process();
#else
#if PL_CONFIG_NOF_KEYS >= 1
if (KEY1_Get()) { /* key pressed */
EVNT_SetEvent(EVNT_SW1_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 2
if (KEY2_Get()) { /* key pressed */
EVNT_SetEvent(EVNT_SW2_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 3
if (KEY3_Get()) { /* key pressed */
EVNT_SetEvent(EVNT_SW3_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 4
if (KEY4_Get()) { /* key pressed */
EVNT_SetEvent(EVNT_SW4_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 5
if (KEY5_Get()) { /* key pressed */
EVNT_SetEvent(EVNT_SW5_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 6
if (KEY6_Get()) { /* key pressed */
EVNT_SetEvent(EVNT_SW6_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 7
if (KEY7_Get()) { /* key pressed */
EVNT_SetEvent(EVNT_SW7_PRESSED);
}
#endif
#endif
}
static portTASK_FUNCTION(T1, pvParameters) {
#if PL_HAS_ACCEL
ACCEL_LowLevelInit();
#endif
#if PL_HAS_REMOTE
remoteInit();
#endif
#if PL_HAS_ANALOG_JOY
AD1_Calibrate(TRUE);
CalibXY();
#endif
#if PL_HAS_FIGHT
FIGHT_Init();
#endif
#if REMOTE_WITHOUT_REFLECTANCE
FRTOS1_vTaskSuspend(checkRefl);
#endif
for(;;) {
EVNT_SetEvent(EVNT_LED_HEARTBEAT);
FRTOS1_vTaskDelay(1000/TRG_TICKS_MS);
}
}
static void APP_EvntHandler(EVNT_Handle event) {
switch (event) {
case EVNT_INIT:
LED1_On();
WAIT1_Waitms(100);
LED1_Off();
break;
#if PL_HAS_LED_HEARTBEAT
case EVNT_LED_HEARTBEAT:
LED3_Neg();
break;
#endif
#if PL_NOF_KEYS>=1
case EVNT_SW1_PRESSED:
if (REF_IsCalibrated()) {
STR_Start();
}
break;
case EVNT_SW1_LPRESSED:
#if PL_HAS_LINE_SENSOR
LED4_On();
WAIT1_Waitms(500);
EVNT_SetEvent(EVNT_REF_START_STOP_CALIBRATION);
DRV_Drive_Forward(40);
WAIT1_Waitms(300);
DRV_Drive_Forward(-60);
WAIT1_Waitms(200);
DRV_Drive_Forward(0);
EVNT_SetEvent(EVNT_REF_START_STOP_CALIBRATION);
WAIT1_Waitms(500);
if (REF_IsCalibrated()) {
LED4_Off();
}
break;
#endif
break;
#endif
#if PL_NOF_KEYS>=2
case EVNT_SW2_PRESSED:
LED2_Neg();
break;
#endif
#if PL_NOF_KEYS>=3
case EVNT_SW3_PRESSED:
LED3_Neg();
break;
#endif
#if PL_NOF_KEYS>=4
case EVNT_SW4_PRESSED:
LED4_Neg();
break;
#endif
default:
break;
}
}
static void APP_EventHandler(EVNT_Handle event) {
switch(event) {
case EVNT_INIT:
/*LED1_On();
WAIT1_Waitms(50);
LED1_Off();
LED2_On();
WAIT1_Waitms(50);
LED2_Off();
LED3_On();
WAIT1_Waitms(50);
LED3_Off();*/
break;
case EVENT_LED_HEARTBEAT:
//LED1_Neg();
break;
#if PL_NOF_KEYS >= 1
case EVNT_SW1_PRESSED:
lastKeyPressed = 1;
#if PL_HAS_SHELL
SHELL_SendString("SW1 pressed!\r\n");
#endif
#if PL_HAS_BUZZER
BUZ_Beep(300, 500);
#endif
break;
case EVNT_SW1_LPRESSED:
#if PL_HAS_SHELL
SHELL_SendString("SW1 long pressed!\r\n");
#endif
break;
case EVNT_SW1_RELEASED:
#if PL_HAS_SHELL
SHELL_SendString("SW1 released!\r\n");
#endif
break;
#endif
#if PL_NOF_LEDS_ROBO
case EVNT_SW2_PRESSED:
lastKeyPressed = 2;
#if PL_HAS_SHELL
SHELL_SendString("SW2 pressed!\r\n");
EVNT_SetEvent(EVNT_REF_START_STOP_CALIBRATION);
#endif
break;
case EVNT_SW2_LPRESSED:
LED_U1_Neg();
#if PL_HAS_SHELL
SHELL_SendString("SW2 long pressed!\r\n");
#endif
break;
case EVNT_SW2_RELEASED:
LED_U1_Neg();
#if PL_HAS_SHELL
SHELL_SendString("SW2 released!\r\n");
#endif
break;
#endif
#if PL_NOF_KEYS >= 3
case EVNT_SW3_PRESSED:
lastKeyPressed = 3;
#if PL_HAS_SHELL
SHELL_SendString("SW3 pressed!\r\n");
#endif
break;
#endif
#if PL_NOF_KEYS >= 4
case EVNT_SW4_PRESSED:
lastKeyPressed = 4;
#if PL_HAS_SHELL
SHELL_SendString("SW4 pressed!\r\n");
#endif
break;
#endif
#if PL_NOF_KEYS >= 5
case EVNT_SW5_PRESSED:
lastKeyPressed = 5;
#if PL_HAS_SHELL
SHELL_SendString("SW5 pressed!\r\n");
#endif
break;
#endif
#if PL_NOF_KEYS >= 6
case EVNT_SW6_PRESSED:
lastKeyPressed = 6;
#if PL_HAS_SHELL
SHELL_SendString("SW6 pressed!\r\n");
#endif
break;
#endif
#if PL_NOF_KEYS >= 7
case EVNT_SW7_PRESSED:
lastKeyPressed = 7;
#if PL_HAS_SHELL
SHELL_SendString("SW7 pressed!\r\n");
#endif
break;
#endif
default:
break;
}
}
/*!
* \brief Event called in the event of a long key press detected.
* \param keys The keyboard port content
* \param event The event kind
*/
static void KEYDBNC_OnDebounceEvent(DBNC_EventKinds event, DBNC_KeySet keys) {
switch(event) {
/* pressed */
case DBNC_EVENT_PRESSED:
#if PL_NOF_KEYS >= 1
if (keys==(1<<0)) {
EVNT_SetEvent(EVNT_SW_A_PRESSED);
}
#endif
#if PL_NOF_KEYS >= 2
if (keys==(1<<1)) {
EVNT_SetEvent(EVNT_SW_B_PRESSED);
}
#endif
#if PL_NOF_KEYS >= 3
if (keys==(1<<2)) {
EVNT_SetEvent(EVNT_SW_C_PRESSED);
}
#endif
#if PL_NOF_KEYS >= 4
if (keys==(1<<3)) {
EVNT_SetEvent(EVNT_SW_D_PRESSED);
}
#endif
#if PL_NOF_KEYS >= 5
if (keys==(1<<4)) {
EVNT_SetEvent(EVNT_SW_E_PRESSED);
}
#endif
#if PL_NOF_KEYS >= 6
if (keys==(1<<5)) {
EVNT_SetEvent(EVNT_SW_F_PRESSED);
}
#endif
#if PL_NOF_KEYS >= 7
if (keys==(1<<6)) {
EVNT_SetEvent(EVNT_SW_G_PRESSED);
}
#endif
break;
/* long pressed */
case DBNC_EVENT_LONG_PRESSED:
#if PL_NOF_KEYS >= 1
if (keys==(1<<0)) {
EVNT_SetEvent(EVNT_SW_A_LPRESSED);
}
#endif
#if PL_NOF_KEYS >= 2
if (keys==(1<<1)) {
EVNT_SetEvent(EVNT_SW_B_LPRESSED);
}
#endif
#if PL_NOF_KEYS >= 3
if (keys==(1<<2)) {
EVNT_SetEvent(EVNT_SW_C_LPRESSED);
}
#endif
#if PL_NOF_KEYS >= 4
if (keys==(1<<3)) {
EVNT_SetEvent(EVNT_SW_D_LPRESSED);
}
#endif
#if PL_NOF_KEYS >= 5
if (keys==(1<<4)) {
EVNT_SetEvent(EVNT_SW_E_LPRESSED);
}
#endif
#if PL_NOF_KEYS >= 6
if (keys==(1<<5)) {
EVNT_SetEvent(EVNT_SW_F_LPRESSED);
}
#endif
#if PL_NOF_KEYS >= 7
if (keys==(1<<6)) {
EVNT_SetEvent(EVNT_SW_G_LPRESSED);
}
#endif
break;
/* released */
case DBNC_EVENT_RELEASED:
#if PL_NOF_KEYS >= 1
if (keys==(1<<0)) {
EVNT_SetEvent(EVNT_SW_A_RELEASED);
}
#endif
#if PL_NOF_KEYS >= 2
if (keys==(1<<1)) {
EVNT_SetEvent(EVNT_SW_B_RELEASED);
}
#endif
#if PL_NOF_KEYS >= 3
if (keys==(1<<2)) {
EVNT_SetEvent(EVNT_SW_C_RELEASED);
}
#endif
#if PL_NOF_KEYS >= 4
if (keys==(1<<3)) {
EVNT_SetEvent(EVNT_SW_D_RELEASED);
}
#endif
#if PL_NOF_KEYS >= 5
if (keys==(1<<4)) {
EVNT_SetEvent(EVNT_SW_E_RELEASED);
}
#endif
#if PL_NOF_KEYS >= 6
if (keys==(1<<5)) {
EVNT_SetEvent(EVNT_SW_F_RELEASED);
}
#endif
#if PL_NOF_KEYS >= 7
if (keys==(1<<6)) {
EVNT_SetEvent(EVNT_SW_G_RELEASED);
}
#endif
break;
case DBNC_EVENT_END:
/*! \todo Implement what you have to do at the end of the debouncing */
#if PL_HAS_KBI
KEY_EnableInterrupts();
#endif
break;
} /* switch */
}
/*! \brief Handles the Events */
static void APP_EventHandler(EVNT_Handle event) {
uint8_t err;
switch(event) {
case EVNT_INIT:
LED1_On();
vTaskDelay(50/portTICK_RATE_MS);
LED1_Off();
LED2_On();
vTaskDelay(50/portTICK_RATE_MS);
LED2_Off();
LED3_On();
vTaskDelay(50/portTICK_RATE_MS);
LED3_Off();
break;
case EVENT_LED_HEARTBEAT:
LED2_Neg();
break;
case EVNT_SW1_PRESSED:
lastKeyPressed = 1;
LED1_On();
vTaskDelay(50/portTICK_RATE_MS);
LED1_Off();
//EVNT_SetEvent(EVNT_REF_START_STOP_CALIBRATION);
#if PL_HAS_FIGHT_MODE
FIGHT_SetState(FIGHT_STATE_COUNTDOWN);
break;
#endif
#if PL_HAS_LINE_SENSOR
case EVNT_REF_START_STOP_CALIBRATION: //Create event again, because the event is handled in the "Reflectance.c" directly.
if(!EVNT_EventIsSet(EVNT_REF_START_STOP_CALIBRATION))
{
EVNT_SetEvent(EVNT_REF_START_STOP_CALIBRATION);
}
break;
#endif
#if PL_IS_FRDM
case EVNT_SW2_PRESSED:
lastKeyPressed = 2;
LED1_On();
vTaskDelay(50/portTICK_RATE_MS);
LED1_Off();
break;
case EVNT_SW3_PRESSED:
lastKeyPressed = 3;
LED1_On();
vTaskDelay(50/portTICK_RATE_MS);
LED1_Off();
break;
case EVNT_SW4_PRESSED:
lastKeyPressed = 4;
LED1_On();
vTaskDelay(50/portTICK_RATE_MS);
LED1_Off();
break;
case EVNT_SW5_PRESSED:
lastKeyPressed = 5;
LED1_On();
vTaskDelay(50/portTICK_RATE_MS);
LED1_Off();
break;
case EVNT_SW6_PRESSED:
lastKeyPressed = 6;
LED1_On();
vTaskDelay(50/portTICK_RATE_MS);
LED1_Off();
break;
case EVNT_SW7_PRESSED:
lastKeyPressed = 7;
LED1_On();
vTaskDelay(50/portTICK_RATE_MS);
LED1_Off();
break;
#endif
default:
break;
}
}
void RADIO_ResetIndication(void) {
EVNT_SetEvent(EVNT_RADIO_RESET); /* MC13192 reset, re-initialize.*/
}
void Calibration_Run(void){
// Wenn SW1 pressed, kommt er da rein. beim 2ten mal stopt er calibration.
EVNT_SetEvent(EVNT_REF_START_STOP_CALIBRATION);
}
/*!
* \brief Event called in the event of a long key press detected.
* \param keys The keyboard port content
* \param event The event kind
*/
static void KEYDBNC_OnDebounceEvent(DBNC_EventKinds event, DBNC_KeySet keys) {
switch(event) {
/* pressed */
case DBNC_EVENT_PRESSED:
#if PL_CONFIG_NOF_KEYS >= 1
if (keys&(1<<0)) {
EVNT_SetEvent(EVNT_SW1_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 2
if (keys&(1<<1)) {
EVNT_SetEvent(EVNT_SW2_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 3
if (keys&(1<<2)) {
EVNT_SetEvent(EVNT_SW3_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 4
if (keys&(1<<3)) {
EVNT_SetEvent(EVNT_SW4_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 5
if (keys&(1<<4)) {
EVNT_SetEvent(EVNT_SW5_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 6
if (keys&(1<<5)) {
EVNT_SetEvent(EVNT_SW6_PRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 7
if (keys&(1<<6)) {
EVNT_SetEvent(EVNT_SW7_PRESSED);
}
#endif
break;
/* long pressed */
case DBNC_EVENT_LONG_PRESSED:
#if PL_CONFIG_NOF_KEYS >= 1
if (keys&(1<<0)) {
EVNT_SetEvent(EVNT_SW1_LPRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 2
if (keys&(1<<1)) {
EVNT_SetEvent(EVNT_SW2_LPRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 3
if (keys&(1<<2)) {
EVNT_SetEvent(EVNT_SW3_LPRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 4
if (keys&(1<<3)) {
EVNT_SetEvent(EVNT_SW4_LPRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 5
if (keys&(1<<4)) {
EVNT_SetEvent(EVNT_SW5_LPRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 6
if (keys&(1<<5)) {
EVNT_SetEvent(EVNT_SW6_LPRESSED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 7
if (keys&(1<<6)) {
EVNT_SetEvent(EVNT_SW7_LPRESSED);
}
#endif
break;
/* released */
case DBNC_EVENT_RELEASED:
#if PL_CONFIG_NOF_KEYS >= 1
if (keys&(1<<0)) {
EVNT_SetEvent(EVNT_SW1_RELEASED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 2
if (keys&(1<<1)) {
EVNT_SetEvent(EVNT_SW2_RELEASED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 3
if (keys&(1<<2)) {
EVNT_SetEvent(EVNT_SW3_RELEASED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 4
if (keys&(1<<3)) {
EVNT_SetEvent(EVNT_SW4_RELEASED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 5
if (keys&(1<<4)) {
EVNT_SetEvent(EVNT_SW5_RELEASED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 6
if (keys&(1<<5)) {
EVNT_SetEvent(EVNT_SW6_RELEASED);
}
#endif
#if PL_CONFIG_NOF_KEYS >= 7
if (keys&(1<<6)) {
EVNT_SetEvent(EVNT_SW7_RELEASED);
}
#endif
break;
case DBNC_EVENT_END:
/*! \todo Implement what you have to do at the end of the debouncing. Need to re-enable interrupts? */
#if PL_CONFIG_HAS_KBI
KEY_EnableInterrupts();
#endif
break;
} /* switch */
}
static void APP_EventHandler(EVNT_Handle event) {
#if PL_HAS_LINE_SENSOR
#endif
static uint16_t buzzer = 1000;
switch(event){
case EVNT_INIT:
LED1_On();
WAIT1_Waitms(100);
LED1_Off();
#if PL_HAS_BUZZER
BUZ_Beep(1000,400);
#endif
break;
case EVNT_HEARTBEAT:
//LED1_Off();
break;
case EVNT_SW_A_RELEASED:
//BUZ_Beep(2000,2000);
break;
case EVNT_SW_A_PRESSED:
#if PL_HAS_BUZZER
BUZ_Beep(1000,10);
#if PL_HAS_BATTLE
BATTLE_changeState(BATTLE_STATE_WAIT);
#endif /* PL_HAS_BATTLE */
#endif
break;
case EVNT_SW_A_LPRESSED:
#if PL_HAS_LINE_SENSOR
LED1_Neg();
EVNT_SetEvent(EVNT_REF_START_STOP_CALIBRATION);
#endif
break;
case EVNT_SW_B_PRESSED:
LED2_Neg();
LED3_Neg();
#if PL_HAS_SHELL
CLS1_SendStr("SW B pressed\n",CLS1_GetStdio()->stdOut);
#endif
break;
case EVNT_SW_C_PRESSED:
LED1_Neg();
LED2_Neg();
#if PL_HAS_SHELL
CLS1_SendStr("SW C pressed\n",CLS1_GetStdio()->stdOut);
#endif
break;
case EVNT_SW_D_PRESSED:
LED1_Neg();
#if PL_HAS_SHELL
CLS1_SendStr("SW D pressed\n",CLS1_GetStdio()->stdOut);
#endif
break;
case EVNT_SW_E_PRESSED:
LED2_Neg();
#if PL_HAS_SHELL
CLS1_SendStr("SW E pressed\n",CLS1_GetStdio()->stdOut);
#endif
break;
case EVNT_SW_F_PRESSED:
LED3_Neg();
#if PL_HAS_SHELL
CLS1_SendStr("SW F pressed\n",CLS1_GetStdio()->stdOut);
#endif
break;
case EVNT_SW_G_PRESSED:
LED1_Neg();
LED2_Neg();
LED3_Neg();
#if PL_HAS_SHELL
CLS1_SendStr("SW g pressed\n",CLS1_GetStdio()->stdOut);
#endif
break;
case EVNT_REF_START_STOP_CALIBRATION:
break;
default:
break;
}
}
