static void reflash_led_blinker(void *parameters)
{
(void)parameters;
while(!end_led) {
led_set_red(0); led_set_green(1);
vTaskDelay(100/portTICK_RATE_MS);
led_set_red(1); led_set_green(0);
vTaskDelay(100/portTICK_RATE_MS);
}
led_set_red(0); led_set_green(1);
while(1) { vTaskDelay(1000/portTICK_RATE_MS); }
}
//////////////////////////////////////////////////////////////////////////////
/// Inizialization. This function is called once before entering
/// main loop.
///
//////////////////////////////////////////////////////////////////////////////
void init() {
VMC_INT_16 motorID;
init_aisc167b();
init_asccom();
init_cycletime_counter();
i2c_init();
init_bioport();
if (can_init(CAN_BAUD, 0)) while(1){led_swap_green();}
led_set_green(0);
led_set_red(0);
ledseq_init();
ais_system_init();
//init_Thermic();
init_error();
init_calculatestate();
init_motorcontrol();
init_controller();
init_current_limiter();
mpwr_init();
set_default_configuration();
for (motorID = 0; motorID < 3; motorID++) {
// init_Limiter(i, 100);
init_encoder(motorID);
}
}
void
PtCmdInit (void)
{
/* enable firmware defaults button */
AT91F_PIO_CfgInputFilter (EXT_BUTTON_PIO, EXT_BUTTON_PIN);
AT91F_PIO_CfgInput (EXT_BUTTON_PIO, EXT_BUTTON_PIN);
/* enable power LED */
led_set_red (1);
xTaskCreate (vCmdTask, (signed portCHAR *) "CMD", TASK_CMD_STACK, NULL,
TASK_CMD_PRIORITY, NULL);
}
/* Reflash the controller flash if all of the following conditions are satisfied:
* + We have new flash content in eink_flash_content
* + The flash identification indicates our custom built controller and not the stock Epson one
* + The first 4 bytes of the existing flash content do not match eink_flash_content
*
* If this function returns a positive value then the controller was reset and the application
* should wait 5ms before proceeding; if the function returns 0, no change was done; if the
* function returns a negative value it is an error code
*/
int eink_flash_conditional_reflash(void)
{
if(sizeof(eink_flash_content) == 0) return 0;
int r = eink_flash_acquire();
if(r>=0) {
unsigned int ident = eink_flash_read_identification();
xTaskHandle led_task_handle;
#ifdef DEBUG_REFLASH
printf("Device identification: %06X\n", ident);
#endif
if( ident != 0x202016 ) { /* Only for our own flash, not the pre-assembled */
goto out_done;
}
eink_flash_read(0, flash_tmpbuf, sizeof(flash_tmpbuf));
#ifdef DEBUG_REFLASH
printf("%02X %02X %02X %02X\n", flash_tmpbuf[0], flash_tmpbuf[1], flash_tmpbuf[2], flash_tmpbuf[3]);
#endif
if(memcmp(flash_tmpbuf, eink_flash_content, sizeof(flash_tmpbuf)) != 0) {
printf("Flash content not correct, starting reflash cycle\nDO NOT POWER OFF\n");
xTaskCreate( reflash_led_blinker, (signed char*)"LED BLINKER", 128, NULL, tskIDLE_PRIORITY+1, &led_task_handle);
printf("Starting bulk erase\n");
eink_flash_write_enable();
eink_flash_bulk_erase();
printf("Done bulk erase\n");
printf("Starting programming (%i bytes)\n", sizeof(eink_flash_content));
eink_flash_program(eink_flash_content, sizeof(eink_flash_content));
printf("Done\n");
end_led = 1;
vTaskDelay(150/portTICK_RATE_MS);
vTaskDelete(led_task_handle);
led_set_red(0); led_set_green(1);
}
} else {
return r;
}
out_done:
eink_flash_release();
return 1;
}
void show_color(unsigned char dig){
switch(dig){
case 0:
led_set_yellow(POWER);
led_set_black();
led_set_black();
led_set_black();
led_set_black();
sound_start(dig);
break;
case 1:
led_set_black();
led_set_red(POWER);
led_set_black();
led_set_black();
led_set_black();
sound_start(dig);
break;
case 2:
led_set_black();
led_set_black();
led_set_green(POWER);
led_set_black();
led_set_black();
sound_start(dig);
break;
case 3:
led_set_black();
led_set_black();
led_set_black();
led_set_blue(POWER);
led_set_black();
sound_start(dig);
break;
}
}
static void
vCmdTask (void *pvParameters)
{
(void) pvParameters;
unsigned int t = 0;
portCHAR cByte;
portBASE_TYPE len = 0;
static char next_command[MAX_CMD_LINE_LENGTH];
for (;;)
{
if (vUSBRecvByte (&cByte, 1, 100))
{
vDebugSendHook (cByte);
switch (cByte)
{
case '\n':
case '\r':
if (len)
{
next_command[len] = 0;
vCmdProcess (next_command);
len = 0;
}
break;
default:
next_command[len++] = cByte;
}
}
else if (AT91F_PIO_GetInput (EXT_BUTTON_PIO) & EXT_BUTTON_PIN)
{
if (t < 30)
t++;
else
{
for (t = 0; t < 10; t++)
{
vTaskDelay (500 / portTICK_RATE_MS);
led_set_red (0);
vTaskDelay (500 / portTICK_RATE_MS);
led_set_red (1);
}
/* backup reader id */
t = env.e.reader_id;
vNetworkResetDefaultSettings ();
/* restore reader id */
env.e.reader_id = t;
/* store the configuration */
env_store ();
/* wait a bit before the reset */
debug_printf ("restoring original settings"
" after reset pin triggerd & reboot...\n");
vTaskDelay (1000 / portTICK_RATE_MS);
/*force watchdog reset */
while (1);
}
}
else
t = 0;
}
}
static inline void
vCmdProcess (const char *cmdline)
{
unsigned char cmd, assign;
unsigned int t;
cmd = (unsigned char) (*cmdline++);
if ((cmd >= 'a') && (cmd <= 'z'))
cmd -= ('a' - 'A');
switch (*cmdline)
{
case '=':
case ' ':
assign = 1;
cmdline++;
break;
case 0:
assign = 0;
break;
default:
assign = 1;
}
switch (cmd)
{
case 'A':
vNetworkSetIP (&env.e.ip_host, assign ? cmdline : NULL, "reader");
break;
case 'B':
debug_printf ("rebooting...\n");
vTaskDelay (1000 / portTICK_RATE_MS);
/*force watchdog reset */
while (1);
break;
case 'C':
vNetworkDumpConfig ();
debug_printf ("System configuration:\n"
"\tFirmware Version: v" PROGRAM_VERSION "\n"
"\tReader ID: %i\n"
"\tRF packet duplicate filter: %s\n\n",
env.e.reader_id,
env.e.filter_duplicates ? "ON" : "OFF");
break;
case 'D':
if (assign)
{
t = atoiEx (cmdline);
debug_printf ("setting debug level to %u\n", t);
PtSetDebugLevel (t);
}
else
debug_printf
("usage: 'd' - set debug level ('d[disable=0, lowest=1]')\n");
break;
case 'F':
if (assign)
{
t = atoiEx (cmdline) ? 1 : 0;
debug_printf ("%s duplicate filtering\n",
t ? "enabled" : "disabled");
env.e.filter_duplicates = t;
}
else
debug_printf
("usage: 'f' - set RF packet duplicate filtering\n"
" ('f[disable=0, enable=1]')\n");
break;
case 'G':
vNetworkSetIP (&env.e.ip_gateway, assign ? cmdline : NULL,
"gateway");
break;
case 'I':
if (assign)
{
#ifndef ALLOW_READER_ID_CHANGE
if (env.e.reader_id)
debug_printf ("ERROR: reader id already set!\n");
else
{
#endif /*ALLOW_READER_ID_CHANGE */
t = atoiEx (cmdline);
if (t > 0 && t < MAC_IAB_MASK)
env.e.reader_id = t;
else
debug_printf
("error: reader_id needs to be between 1 and %u (used '%s')\n",
MAC_IAB_MASK, cmdline);
#ifndef ALLOW_READER_ID_CHANGE
}
#endif /*ALLOW_READER_ID_CHANGE */
}
debug_printf ("reader_id=%i\n", env.e.reader_id);
break;
case 'L':
if (assign)
{
t = atoiEx (cmdline) > 0;
debug_printf ("red_led=%i\n", t);
led_set_red (t);
}
else
debug_printf
("usage: 'l' - red LED ('l[enable=0, disable=1]')\n");
break;
case 'M':
vNetworkSetIP (&env.e.ip_netmask, assign ? cmdline : NULL,
"netmask");
break;
case 'N':
if (assign)
env.e.ip_autoconfig = atoiEx (cmdline);
debug_printf ("ip_autoconfig=%i\n", env.e.ip_autoconfig);
break;
case 'P':
if (assign)
env.e.ip_server_port = atoiEx (cmdline);
debug_printf ("server UDP port=%i\n", env.e.ip_server_port);
break;
case 'R':
/* backup reader id */
t = env.e.reader_id;
vNetworkResetDefaultSettings ();
/* restore reader id */
env.e.reader_id = t;
debug_printf ("restoring original settings & reboot...\n");
vNetworkDumpConfig ();
vTaskDelay (1000 / portTICK_RATE_MS);
env_store ();
/*force watchdog reset */
while (1);
break;
case 'S':
debug_printf ("storing configuration & reboot...\n");
vTaskDelay (1000 / portTICK_RATE_MS);
env_store ();
/*force watchdog reset */
while (1);
break;
case 'T':
vNetworkSetIP (&env.e.ip_server, assign ? cmdline : NULL,
"server");
break;
case 'U':
debug_printf ("resetting reader to firmware update mode...\n");
vTaskDelay (1000 / portTICK_RATE_MS);
env_reboot_to_update ();
break;
case 'H':
case '?':
vCmdHelp ();
break;
case 'X':
vCmdDumpStatistics ();
PtStatusRxTx ();
break;
default:
debug_printf ("Unkown CMD:'%c'\n", cmd);
}
}
