void APP_HandleEvent(byte event) {
switch(event) {
case EVNT1_INIT:
LED1_On(); WAIT1_Waitms(200);
LED2_On(); WAIT1_Waitms(200);
LED3_On(); WAIT1_Waitms(200);
LED4_On(); WAIT1_Waitms(200);
LED1_Off(); LED2_Off(); LED3_Off(); LED4_Off();
break;
case EVNT1_SW1_PRESSED:
LED1_On(); WAIT1_Waitms(200); LED1_Off();
break;
case EVNT1_SW2_PRESSED:
LED2_On(); WAIT1_Waitms(200); LED2_Off();
break;
case EVNT1_SW3_PRESSED:
LED3_On(); WAIT1_Waitms(200); LED3_Off();
break;
case EVNT1_SW4_PRESSED:
LED4_On(); WAIT1_Waitms(200); LED4_Off();
break;
case EVNT1_SW1_LONG_PRESSED:
LED1_On(); WAIT1_Waitms(500); LED1_Off();
break;
case EVNT1_SW2_LONG_PRESSED:
LED2_On(); WAIT1_Waitms(500); LED2_Off();
break;
case EVNT1_SW3_LONG_PRESSED:
LED3_On(); WAIT1_Waitms(500); LED3_Off();
break;
case EVNT1_SW4_LONG_PRESSED:
LED4_On(); WAIT1_Waitms(500); LED4_Off();
break;
} /* switch */
}
/*!
* \brief LED test routine.
* This routine tests if:
* - we can turn the LEDs properly on and off
* - if we can negate them
* - if we can set an LED value
* - if we can get the LED value
* If the test fails, the program will hanging in an endless loop
*/
void LED_Test(void) {
bool isOn = TRUE;
LED1_On();
LED2_On();
LED3_On();
LED1_Off();
LED2_Off();
LED3_Off();
LED1_Neg();
LED2_Neg();
LED3_Neg();
LED1_On();
/*
if (!LED1_Get()) {
LED3_Off();
}
LED1_Off();
if (LED1_Get()) {
for(;;){}; /* error
}
LED1_Put(isOn);
if (!LED1_Get()) {
for(;;){}; /* error
}
*/
}
/*lint -save -e970 Disable MISRA rule (6.3) checking. */
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
/* Write your local variable definition here */
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
/* Write your code here */
LED1_On();
WAIT1_Waitms(100);
LED1_Off();
LED2_On();
WAIT1_Waitms(100);
LED2_Off();
LED3_On();
WAIT1_Waitms(100);
LED3_Off();
CDC_Run();
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
#ifdef PEX_RTOS_START
PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
#endif
/*** End of RTOS startup code. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
void APP_Run(void) {
LED1_On();
LED1_Off();
LED2_On();
LED2_Off();
LED3_On();
LED3_Off();
#if PL_HAS_SHELL
SHELL_Init();
#endif
#if PL_HAS_ESC
ESC_Init();
#endif
if (FRTOS1_xTaskCreate(
AppTask, /* 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)
{
for(;;){} /* error! probably out of memory */
}
FRTOS1_vTaskStartScheduler();
for(;;) {}
}
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();
}
/*
** ===================================================================
** Method : LED1_SetRatio16 (component LED)
** Description :
** Method to specify the duty cycle. If using a PWM pin, this
** means the duty cycle is set. For On/off pins, values smaller
** 0x7FFF means off, while values greater means on.
** Parameters :
** NAME - DESCRIPTION
** ratio - Ratio value, where 0 means 'off' and
** 0xffff means 'on'
** Returns : Nothing
** ===================================================================
*/
void LED1_SetRatio16(word ratio)
{
/* on/off LED: binary on or off */
if (ratio<(0xffff/2)) {
LED1_Off();
} else {
LED1_On();
}
}
/****************************************************************************
Function:
void SetLEDs(BYTE setting)
Summary:
change the LED settings of the boards
Description:
change the LED settings of the boards
Precondition:
None
Parameters:
BYTE setting - bitmap for desired LED setting (1 = On, 0 = Off)
bit 0 = LED 0
bit 1 = LED 1
bit 2 = LED 2
...
bit 7 = LED 7
Return Values:
None
Remarks:
None
***************************************************************************/
static void SetLEDs(BYTE setting)
{
if((setting & 0x01) == 0x01) { LED0_On(); } else { LED0_Off(); }
if((setting & 0x02) == 0x02) { LED1_On(); } else { LED1_Off(); }
if((setting & 0x04) == 0x04) { LED2_On(); } else { LED2_Off(); }
if((setting & 0x08) == 0x08) { LED3_On(); } else { LED3_Off(); }
if((setting & 0x10) == 0x10) { LED4_On(); } else { LED4_Off(); }
if((setting & 0x20) == 0x20) { LED5_On(); } else { LED5_Off(); }
if((setting & 0x40) == 0x40) { LED6_On(); } else { LED6_Off(); }
if((setting & 0x80) == 0x80) { LED7_On(); } else { LED7_Off(); }
}
static void APP_HandleEvent(EVNT_Handle event) {
switch(event) {
case EVNT_INIT:
LED1_On(); WAIT1_Waitms(500); LED1_Off();
break;
#if PL_NOF_KEYS>=1
case EVNT_SW1_PRESSED:
LED1_Neg();
#if PL_HAS_BUZZER
(void)BUZ_Beep(300, 500);
#endif
#if PL_HAS_REMOTE
if (REMOTE_GetOnOff()) {
REMOTE_SetOnOff(FALSE);
} else {
REMOTE_SetOnOff(TRUE);
}
#endif
break;
#endif
#if PL_NOF_KEYS>=2
case EVNT_SW2_PRESSED:
LED2_Neg();
#if PL_HAS_REMOTE && PL_APP_ACCEL_CONTROL_SENDER
//(void)RSTDIO_SendToTxStdio(RSTDIO_QUEUE_TX_IN, "buzzer buz 800 400\r\n", sizeof("buzzer buz 800 400\r\n")-1);
#endif
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
#if PL_HAS_LED_HEARTBEAT
case EVNT_LED_HEARTBEAT:
LED4_Neg();
break;
#endif
default:
#if PL_HAS_RADIO
//RADIO_AppHandleEvent(event);
#endif
break;
}
}
/*lint -save -e970 Disable MISRA rule (6.3) checking. */
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
/* Write your local variable definition here */
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
#if PL_HAS_SD_CARD
/* SD card detection: PTE6 with pull-down! */
PORT_PDD_SetPinPullSelect(PORTE_BASE_PTR, 6, PORT_PDD_PULL_DOWN);
PORT_PDD_SetPinPullEnable(PORTE_BASE_PTR, 6, PORT_PDD_PULL_ENABLE);
#endif
#if PL_HAS_KEYS
/* SW3: PTA4 */
PORT_PDD_SetPinPullSelect(PORTA_BASE_PTR, 4, PORT_PDD_PULL_UP);
PORT_PDD_SetPinPullEnable(PORTA_BASE_PTR, 4, PORT_PDD_PULL_ENABLE);
/* SW2: PTC6 */
PORT_PDD_SetPinPullSelect(PORTC_BASE_PTR, 6, PORT_PDD_PULL_UP);
PORT_PDD_SetPinPullEnable(PORTC_BASE_PTR, 6, PORT_PDD_PULL_ENABLE);
#endif
#if PL_HAS_BLUETOOTH
/* pull up Rx pin (PTC14) for Bluetooth module */
PORT_PDD_SetPinPullSelect(PORTC_BASE_PTR, 14, PORT_PDD_PULL_UP);
PORT_PDD_SetPinPullEnable(PORTC_BASE_PTR, 14, PORT_PDD_PULL_ENABLE);
#endif
LED1_On();
WAIT1_Waitms(50);
LED1_Off();
WAIT1_Waitms(50);
LED2_On();
WAIT1_Waitms(50);
LED2_Off();
WAIT1_Waitms(50);
LED3_On();
WAIT1_Waitms(50);
LED3_Off();
WAIT1_Waitms(50);
APP_Start();
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
#ifdef PEX_RTOS_START
PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
#endif
/*** End of RTOS startup code. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
void Cpu_OnLLSWakeUpINT(void)
{
uint32_t tmp;
tmp = Cpu_GetLLSWakeUpFlags();
if (tmp&LLWU_INT_MODULE0) { /* LPTMR */
#if 0
LED1_On(); /* red */
WAIT1_Waitms(1);
LED1_Off(); /* red */
WAIT1_Waitms(100);
#endif
LPTMR_PDD_ClearInterruptFlag(LPTMR0_BASE_PTR); /* Clear interrupt flag */
}
}
void Led_On(uint8 led)
{
switch(led)
{
case eGreen:
LED0_On();
break;
case eBlue:
LED1_On();
break;
default:
break;
}
}
void APP_Run(void) {
#if configUSE_TRACE_HOOKS
if (RTOSTRC1_uiTraceStart()==0) {
for(;;){} /* error starting trace recorder. Not setup for enough queues/tasks/etc? */
}
#endif
#if PL_HAS_SD_CARD
/* SD card detection: PTB16 with pull-down! */
PORT_PDD_SetPinPullSelect(PORTB_BASE_PTR, 16, PORT_PDD_PULL_DOWN);
PORT_PDD_SetPinPullEnable(PORTB_BASE_PTR, 16, PORT_PDD_PULL_ENABLE);
#endif
#if PL_HAS_PUSH_BUTTONS
/* SW2: PTC1 */
PORT_PDD_SetPinPullSelect(PORTC_BASE_PTR, 1, PORT_PDD_PULL_UP);
PORT_PDD_SetPinPullEnable(PORTC_BASE_PTR, 1, PORT_PDD_PULL_ENABLE);
/* SW3: PTB17 */
PORT_PDD_SetPinPullSelect(PORTB_BASE_PTR, 17, PORT_PDD_PULL_UP);
PORT_PDD_SetPinPullEnable(PORTB_BASE_PTR, 17, PORT_PDD_PULL_ENABLE);
#endif
LED1_On();
LED1_Off();
LED2_On();
LED2_Off();
LED3_On();
LED3_Off();
#if PL_HAS_SHELL
SHELL_Init();
#endif
#if PL_HAS_ESC
ESC_Init();
#endif
if (FRTOS1_xTaskCreate(
AppTask, /* 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)
{
for(;;){} /* error! probably out of memory */
}
FRTOS1_vTaskStartScheduler();
for(;;) {}
}
/*lint -save -e970 Disable MISRA rule (6.3) checking. */
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
/* Write your local variable definition here */
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
LED2_On();
WAIT1_Waitms(1000);
LED2_Off();
#if PL_HAS_LOW_POWER
LP_Init();
#endif
#if PL_HAS_RTOS
if (FRTOS1_xTaskCreate(BlinkTask, "Blink", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
#endif
#if PL_HAS_SHELL
SHELL_Init();
#endif
#if PL_HAS_RTOS
PEX_RTOS_START();
#endif
for(;;) {
LP_EnterPowerMode(LP_WAIT);
LED1_On();
WAIT1_Waitms(20);
LED1_Off();
}
/* For example: for(;;) { } */
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
#ifdef PEX_RTOS_START
PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
#endif
/*** End of RTOS startup code. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
void APP_Run(void) {
uint8_t res=ERR_OK;
uint8_t xyz[3];
LED1_On();
LED2_On();
LED3_On();
res = MMA8451_Init();
while (res==ERR_OK) {
res = MMA8451_GetRawXYZ(&xyz[0]);
LED1_Put(xyz[0]>50);
LED2_Put(xyz[1]>50);
LED3_Put(xyz[2]>50);
}
LED1_Off();
LED2_Off();
LED3_Off();
}
void FlashFailed(int warning)
{
int infinite = 1;
int repeats = 0;
if (warning) {
infinite = 0;
repeats = 3;
}
while(infinite || repeats > 0) {
LED1_On();
WAIT1_Waitms(200);
LED1_Off();
WAIT1_Waitms(200);
if (!infinite) {
repeats--;
}
}
}
void LED_Test(void) {
#if PL_CONFIG_NOF_LED>=1
LED1_On();
WAIT1_Waitms(500);
LED1_Off();
#endif
#if PL_CONFIG_NOF_LED>=2
LED2_On();
WAIT1_Waitms(500);
LED2_Off();
#endif
#if PL_CONFIG_NOF_LED>=3
LED3_On();
WAIT1_Waitms(500);
LED3_Off();
#endif
#if PL_CONFIG_NOF_LED>=4
#error "only 3 LED ;)"
#endif
}
void APP_HandleEvent(byte event) {
switch(event) {
case EVNT1_INIT:
LED1_On(); LED2_On(); LED3_On(); LED4_On();
WAIT1_Waitms(500);
LED1_Off(); LED2_Off(); LED3_Off(); LED4_Off();
break;
case EVNT1_BTN1_PRESSED:
#if HAS_SOUND
RTOS_StartSounder(300);
#endif
LED4_Neg();
SHELL_SendStr("SW1 pressed!\r\n");
break;
case EVNT1_BTN2_PRESSED:
#if HAS_SOUND
RTOS_StartSounder(500);
#endif
LED5_Neg();
SHELL_SendStr("SW2 pressed!\r\n");
break;
case EVNT1_BTN3_PRESSED:
#if HAS_SOUND
RTOS_StartSounder(700);
#endif
LED7_Neg();
SHELL_SendStr("SW3 pressed!\r\n");
break;
case EVNT1_BTN4_PRESSED:
#if HAS_SOUND
RTOS_StartSounder(900);
#endif
LED8_Neg();
SHELL_SendStr("SW4 pressed!\r\n");
break;
default:
break;
} /* switch */
}
static portTASK_FUNCTION(MainTask, pvParameters) {
unsigned char lcdBuf[sizeof("1234")];
uint16_t cntr;
(void)pvParameters; /* parameter not used */
TRACE_Init();
MMA1_Init(); /* enable accelerometer, if not already enabled */
MAG1_Enable(); /* enable magnetometer */
SHELL_Init();
cntr = 0;
for(;;) {
UTIL1_Num16uToStrFormatted(lcdBuf, sizeof(lcdBuf), cntr, '0', 4);
vfnLCD_Write_Msg(lcdBuf);
cntr++;
if (cntr>9999) { /* can only display 4 digits */
cntr = 0;
}
#if APP_USE_KEY_COMPONENT
KEY1_ScanKeys(); /* using component in polling mode: poll keys, this will create events as needed. */
EVNT1_HandleEvent();
#else
if (SW1_GetVal()==0) { /* button pressed */
FRTOS1_vTaskDelay(50/portTICK_RATE_MS); /* wait to debounce */
while (SW1_GetVal()==0) { /* still pressed? */
LED1_On();
}
}
if (SW3_GetVal()==0) { /* button pressed */
FRTOS1_vTaskDelay(50/portTICK_RATE_MS); /* wait to debounce */
while (SW3_GetVal()==0) { /* still pressed? */
LED2_On();
}
}
#endif
LED1_Neg();
FRTOS1_vTaskDelay(50/portTICK_RATE_MS);
}
}
void APP_Run(void) {
int16_t x,y,z;
uint8_t res;
#define ACCEL_VAL 2000
res = FX1_Enable(); /* enable accelerometer (just in case) */
if (res!=ERR_OK) {
Err();
}
if (FAT1_Init()!=ERR_OK) {
Err();
}
if (FAT1_mount(0, &fileSystemObject) != FR_OK) { /* mount file system */
Err();
}
for(;;) {
//LED1_Neg();
x = FX1_GetX();
y = FX1_GetY();
z = FX1_GetZ();
if (x>ACCEL_VAL || x<-ACCEL_VAL) {
LED1_On();
LED2_Off();
LED3_Off();
} else if (y>ACCEL_VAL || y<-ACCEL_VAL) {
LED1_Off();
LED2_On();
LED3_Off();
} else if (z>ACCEL_VAL || z<-ACCEL_VAL) {
LED1_Off();
LED2_Off();
LED3_On();
}
LogToFile(x, y, z);
WAIT1_Waitms(1000);
}
}
uint8_t REMOTE_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"remote help")==0) {
REMOTE_PrintHelp(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"remote status")==0) {
REMOTE_PrintStatus(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"remote on")==0) {
REMOTE_isOn = TRUE;
LED1_On();
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"remote off")==0) {
#if PL_CONFIG_HAS_MOTOR
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), 0);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0);
#endif
REMOTE_isOn = FALSE;
LED1_Off();
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"remote verbose on")==0) {
REMOTE_isVerbose = TRUE;
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"remote verbose off")==0) {
REMOTE_isVerbose = FALSE;
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"remote joystick on")==0) {
REMOTE_useJoystick = TRUE;
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"remote joystick off")==0) {
REMOTE_useJoystick = FALSE;
*handled = TRUE;
}
return res;
}
void SystemTick(void)
{
SystemTickCnt++;
#ifdef LED1_On
if(LED_Mask & 2)
{
LED_Mask &= 0xFD;
LED1_On();
}
else
LED1_Off();
#endif // LED1_On
#ifdef LED2_On
if(LED_Mask & 4)
{
LED_Mask &= 0xFB;
LED2_On();
}
else
LED2_Off();
#endif // LED2_On
}
static void KillMe(void* param) {
LED1_On(); /* LED of death! */
vTaskDelete(NULL); /* suicide! */
}
static void Err(void) {
LED1_On();
LED2_On();
LED3_On();
for(;;){}
}
void accelTest(void){
uint8_t res = ERR_OK;
int8_t dataX = 0;
deviceData.handle = I2C1_Init(&deviceData);
#if 0
uint8_t data = 0;
int8_t i = 2;
WAIT1_WaitCycles(25);
res = LIS2DH12TR_ReadReg(0x0f, &data, sizeof(data));
WAIT1_WaitCycles(25);
res = LIS2DH12TR_WriteReg(0x20, 0b01111111);
WAIT1_WaitCycles(25);
res = LIS2DH12TR_WriteReg(0x23, 0b00100000);
for(;;){
WAIT1_WaitCycles(25);
res = LIS2DH12TR_ReadReg(0x29, &dataX, 1U);
if(dataX > i){
LED1_On();
i = -1;
} else if(dataX < i){
LED1_Off();
i = 1;
}
}
#else
#define MASK_LED1 0x04
#define MASK_LED2 0x02
#define MASK_LED3 0x01
#define PIXEL_TIME_MS 1
uint8_t img[] = {7,2,7,0,7,7,7,0,7,4,4,0,7,4,7};
WAIT1_WaitCycles(25);
res = LIS2DH12TR_WriteReg(0x20, 0b01111111);
WAIT1_WaitCycles(25);
res = LIS2DH12TR_WriteReg(0x23, 0b00100000);
WAIT1_WaitCycles(25);
bool swipeRight = FALSE;
bool swipeLeft = FALSE;
uint8_t right = 0;
uint8_t left = 0;
uint8_t prevAccelValue = 0;
uint8_t lengthOfImage = sizeof(img);
while(1){
//WAIT1_WaitCycles(25);
WAIT1_Waitms(1);
res = LIS2DH12TR_ReadReg(0x29, &dataX, 1U);
if(dataX < prevAccelValue){
right++;
if(right == 3){
swipeRight = TRUE;
right = 0;
}
} /*else if(dataX > prevAccelValue){
left++;
if(left == 3){
swipeLeft = TRUE;
left = 0;
}
}*/
prevAccelValue = dataX;
if ((dataX > 40) & swipeRight){
WAIT1_Waitms(10);
for(int i=0; i<lengthOfImage; i++){
LED1_Put(img[i] & MASK_LED1);
LED2_Put(img[i] & MASK_LED2);
LED3_Put(img[i] & MASK_LED3);
WAIT1_Waitms(PIXEL_TIME_MS);
LED1_Off();
LED2_Off();
LED3_Off();
WAIT1_Waitms(PIXEL_TIME_MS);
}
swipeRight = FALSE;
} /*else if ((dataX < 40) & swipeLeft){
WAIT1_Waitms(10);
for(int i=(lengthOfImage-1); i>=0; i--){
LED1_Put(img[i] & MASK_LED1);
LED2_Put(img[i] & MASK_LED2);
LED3_Put(img[i] & MASK_LED3);
WAIT1_Waitms(PIXEL_TIME_MS);
LED1_Off();
LED2_Off();
LED3_Off();
WAIT1_Waitms(PIXEL_TIME_MS);
}
swipeLeft = FALSE;
}*/
//prevAccelValue = 0;
}
#endif
}
/*! \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;
}
}
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;
}
}
void usb_run(void)
{
usbmidi_scheduler_state_t usbschedstate;
usbmidi_scheduler_state_t intercoreschedstate;
midicmd_t cmd;
usb_timeout_counter_handle = TMOUT1_GetCounter(2);
midiin_reset(&midiin1_state);
midiin1_state.GetCharsInRxBuf = MIDIUART1_GetCharsInRxBuf;
midiin1_state.RecvChar = MIDIUART1_RecvChar;
midiin_reset(&midiin2_state);
midiin2_state.GetCharsInRxBuf = MIDIUART2_GetCharsInRxBuf;
midiin2_state.RecvChar = MIDIUART2_RecvChar;
midiout_reset(&midiout1_state);
midiout1_state.OutBufSize = MIDIUART1_OUT_BUF_SIZE;
midiout1_state.GetCharsInTxBuf = MIDIUART1_GetCharsInTxBuf;
midiout1_state.SendChar = MIDIUART1_SendChar;
midiout1_state.CounterExpired = TMOUT1_CounterExpired;
midiout1_state.SetCounter = TMOUT1_SetCounter;
midiout1_state.midiout_counterhandle = TMOUT1_GetCounter(10);
midiout_reset(&midiout2_state);
midiout2_state.OutBufSize = MIDIUART2_OUT_BUF_SIZE;
midiout2_state.GetCharsInTxBuf = MIDIUART2_GetCharsInTxBuf;
midiout2_state.SendChar = MIDIUART2_SendChar;
midiout2_state.CounterExpired = TMOUT1_CounterExpired;
midiout2_state.SetCounter = TMOUT1_SetCounter;
midiout2_state.midiout_counterhandle = TMOUT1_GetCounter(10);
usbmidi_scheduler_reset(&usbschedstate);
usbschedstate.RecvByte = usbmidi_receive;
usbschedstate.bus_count = 5;
usbschedstate.CanTransmit[0] = intercore_can_transmit;
usbschedstate.CanTransmit[1] = midiout_can_transmit;
usbschedstate.CanTransmit[2] = midiout_can_transmit;
usbschedstate.CanTransmit[3] = intercore_can_transmit;
usbschedstate.CanTransmit[4] = intercore_can_transmit;
usbschedstate.Transmit[0] = intercore_transmit;
usbschedstate.Transmit[1] = midiout_transmit;
usbschedstate.Transmit[2] = midiout_transmit;
usbschedstate.Transmit[3] = intercore_transmit;
usbschedstate.Transmit[4] = intercore_transmit;
usbschedstate.TransmitHook[0] = sysex_process;
usbschedstate.TransmitHook[1] = NULL;
usbschedstate.TransmitHook[2] = NULL;
usbschedstate.TransmitHook[3] = NULL;
usbschedstate.TransmitHook[4] = NULL;
usbschedstate.busstate[0] = NULL;
usbschedstate.busstate[1] = &midiout1_state;
usbschedstate.busstate[2] = &midiout2_state;
usbschedstate.busstate[3] = NULL;
usbschedstate.busstate[4] = NULL;
usbmidi_scheduler_reset(&intercoreschedstate);
intercoreschedstate.RecvByte = intercore_receive;
intercoreschedstate.bus_count = 5;
intercoreschedstate.CanTransmit[0] = usbmidi_can_transmit;
intercoreschedstate.CanTransmit[1] = midiout_can_transmit;
intercoreschedstate.CanTransmit[2] = midiout_can_transmit;
intercoreschedstate.CanTransmit[3] = usbmidi_can_transmit;
intercoreschedstate.CanTransmit[4] = usbmidi_can_transmit;
intercoreschedstate.Transmit[0] = usbmidi_transmit;
intercoreschedstate.Transmit[1] = midiout_transmit;
intercoreschedstate.Transmit[2] = midiout_transmit;
intercoreschedstate.Transmit[3] = usbmidi_transmit;
intercoreschedstate.Transmit[4] = usbmidi_transmit;
intercoreschedstate.TransmitHook[0] = NULL;
intercoreschedstate.TransmitHook[1] = NULL;
intercoreschedstate.TransmitHook[2] = NULL;
intercoreschedstate.TransmitHook[3] = NULL;
intercoreschedstate.TransmitHook[4] = NULL;
intercoreschedstate.busstate[0] = NULL;
intercoreschedstate.busstate[1] = &midiout1_state;
intercoreschedstate.busstate[2] = &midiout2_state;
intercoreschedstate.busstate[3] = NULL;
intercoreschedstate.busstate[4] = NULL;
COREUART_Init();
DMAT1_AllocateChannel(DMAT1_DeviceData);
DMAT1_EnableChannel(DMAT1_DeviceData);
//UART0_C2 &= ~(1 << 5); /* Clear RIE */
UART0_C5 |= (1 << 5); /* RDMAE=1 Enable DMA */
COREUART_Enable();
intercore_sync_master();
for(;;) {
if (USBMIDI1_App_Task(midi_buffer, sizeof(midi_buffer)) == ERR_BUSOFF) {
LED1_Off();
usbmidi_scheduler_reset(&usbschedstate);
UsbMidiRx_Init();
UsbMidiTx_Init();
}
else {
LED1_On();
if (sysex_flashing | slave_initialized) {
// Ignore intercore bus during flashing
usbschedstate.CanTransmit[0] = NULL;
}
usbmidi_scheduler(&usbschedstate);
}
if (TMOUT1_CounterExpired(usb_timeout_counter_handle)) {
// No data going out on USB, reset queue!
EnterCritical();
UsbMidiTx_Init();
ExitCritical();
}
if (!(sysex_flashing || slave_initialized)) {
usbmidi_scheduler(&intercoreschedstate);
}
int repeat = 1;
while (repeat) {
repeat = 0;
int ready = midiin_receive(&cmd, &midiin1_state);
if (ready) {
repeat = 1;
cmd.header &= 0x0F;
cmd.header |= (0x1 << 4);
if (usbmidi_can_transmit(4, NULL)) {
usbmidi_transmit(cmd, NULL);
}
//if (intercore_can_transmit(4, NULL)) {
intercore_transmit(cmd, NULL);
//}
}
ready = midiin_receive(&cmd, &midiin2_state);
if (ready) {
repeat = 1;
cmd.header &= 0x0F;
cmd.header |= (0x2 << 4);
if (usbmidi_can_transmit(4, NULL)) {
usbmidi_transmit(cmd, NULL);
}
//if (intercore_can_transmit(4, NULL)) {
intercore_transmit(cmd, NULL);
//}
}
}
}
}
static void REMOTE_HandleMotorMsg(int16_t direction, int16_t speedMode, int16_t z) {
#define SCALE_DOWN 30
#define MIN_VALUE 250 /* values below this value are ignored */
#define DRIVE_DOWN 1
#define SCALE_FROM_PERCENT (16383/100)
#define NORMAL_SPEED (20 * SCALE_FROM_PERCENT)
#define FAST_SPEED (80 * SCALE_FROM_PERCENT)
#define FAST_TURN (30 * SCALE_FROM_PERCENT)
if (!REMOTE_isOn) {
LED1_Off();
return;
}
LED1_On();
if(speedMode == 4) {
// left handed
LED2_On();
MAZE_SetTurnHandleLeft(TRUE);
LF_StartFollowing();
}
if(speedMode == 5) {
// right handed
LED2_On();
MAZE_SetTurnHandleLeft(FALSE);
LF_StartFollowing();
}
switch(direction) {
case 0: // straight
if(speedMode == 0){
DRV_SetSpeed(0, 0);
} else if (speedMode == 1) {
DRV_SetSpeed(NORMAL_SPEED, NORMAL_SPEED);
} else if (speedMode == 2) {
DRV_SetSpeed(FAST_SPEED,FAST_SPEED );
} else if (speedMode == 3){
DRV_SetSpeed( -NORMAL_SPEED, -NORMAL_SPEED );
}
break;
case 1: // right
if(speedMode == 0){
DRV_SetSpeed(NORMAL_SPEED, 0);
} else if (speedMode == 1) {
DRV_SetSpeed(FAST_SPEED, NORMAL_SPEED);
} else if (speedMode == 2) {
DRV_SetSpeed(FAST_SPEED,FAST_TURN );
} else if (speedMode == 3){
DRV_SetSpeed( -FAST_SPEED, -NORMAL_SPEED );
}
break;
case 2: // left
if(speedMode == 0){
DRV_SetSpeed(0, NORMAL_SPEED);
} else if (speedMode == 1) {
DRV_SetSpeed(NORMAL_SPEED, FAST_SPEED);
} else if (speedMode == 2) {
DRV_SetSpeed(FAST_TURN,FAST_SPEED );
} else if (speedMode == 3){
DRV_SetSpeed( -NORMAL_SPEED, -FAST_SPEED );
}
break;
}
/*
if (z<-900) { /* have a way to stop motor: turn FRDM USB port side up or down
#if PL_CONFIG_HAS_DRIVE
DRV_SetSpeed(0, 0);
#else
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), 0);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0);
#endif
} else if ((directionVal>MIN_VALUE || directionVal<-MIN_VALUE) && (speedVal>MIN_VALUE || speedVal<-MIN_VALUE)) {
int16_t speed, speedL, speedR;
speed = speedVal/SCALE_DOWN;
if (directionVal<0) {
if (speed<0) {
speedR = speed+(directionVal/SCALE_DOWN);
} else {
speedR = speed-(directionVal/SCALE_DOWN);
}
speedL = speed;
} else {
speedR = speed;
if (speed<0) {
speedL = speed-(directionVal/SCALE_DOWN);
} else {
speedL = speed+(directionVal/SCALE_DOWN);
}
}
#if PL_CONFIG_HAS_DRIVE
DRV_SetSpeed(speedL*SCALE_DOWN/DRIVE_DOWN, speedR*SCALE_DOWN/DRIVE_DOWN);
#else
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), speedL);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), speedR);
#endif
} else if (speedVal>100 || speedVal<-100) { //* speed
#if PL_CONFIG_HAS_DRIVE
DRV_SetSpeed(speedVal, speedVal);
#else
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), -speedVal/SCALE_DOWN);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), -speedVal/SCALE_DOWN);
#endif
} else if (directionVal>100 || directionVal<-100) { //* direction
#if PL_CONFIG_HAS_DRIVE
DRV_SetSpeed(directionVal/DRIVE_DOWN, -directionVal/DRIVE_DOWN);
#else
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), -directionVal/SCALE_DOWN);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), (directionVAl/SCALE_DOWN));
#endif
} else { //* device flat on the table?
#if PL_CONFIG_HAS_DRIVE
DRV_SetSpeed(0, 0);
#else
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), 0);
MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0);
#endif
} */
}
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;
}
}
