/* timer interrupt function executes every millisecond ************************/
void CO_TIMER_ISR() {
static ttimer tprof;
saveTime(&tprof);
CO_timer1ms++;
CO_process_RPDO(CO);
/* TODO: zpracovani RPDO dat */
/* TODO: priprava dat pro TPDO */
CO_process_TPDO(CO);
/* calculate cycle time for performance measurement */
uint32_t t = getTime_us(&tprof);
OD_performance[ODA_performance_timerCycleTime] = t;
if (t > OD_performance[ODA_performance_timerCycleMaxTime])
OD_performance[ODA_performance_timerCycleMaxTime] = t;
}
void MainWindow::is_started(bool started)
{
if(!started)
{
if(internalServer!=NULL)
{
delete internalServer;
internalServer=NULL;
}
saveTime();
if(!isVisible())
QCoreApplication::quit();
}
else
{
CatchChallenger::BaseWindow::baseWindow->serverIsReady();
socket->connectToHost("localhost",9999);
}
}
void MainWindow::play(const QString &savegamesPath)
{
QSettings metaData(savegamesPath+"metadata.conf",QSettings::IniFormat);
if(!metaData.contains("pass"))
{
QMessageBox::critical(NULL,tr("Error"),tr("Unable to load internal value"));
return;
}
launchedGamePath=savegamesPath;
haveLaunchedGame=true;
pass=metaData.value("pass").toString();
if(internalServer!=NULL)
{
delete internalServer;
saveTime();
}
internalServer=new CatchChallenger::InternalServer();
sendSettings(internalServer,savegamesPath);
connect(internalServer,SIGNAL(is_started(bool)),this,SLOT(is_started(bool)),Qt::QueuedConnection);
ui->stackedWidget->setCurrentIndex(1);
CatchChallenger::BaseWindow::baseWindow->serverIsLoading();
}
/* main ***********************************************************************/
int main(void) {
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
InitCanLeds();
DBGU_Configure(115200);
TRACE_INFO_WP("\n\rCanOpenNode %s (%s %s)\n\r", cVer, __DATE__, __TIME__);
/* Configure Timer interrupt function for execution every 1 millisecond */
if (SysTick_Config(SysTick_1ms))
TRACE_FATAL("SysTick_Config\n\r");
initTimer(getTimer_us);
/* Todo: initialize EEPROM */
/* Todo: Loading COD */
TRACE_INFO("Loading COD\n\r");
/* Verify, if OD structures have proper alignment of initial values */
TRACE_DEBUG("Checking COD in RAM (size=%d)\n\r", &CO_OD_RAM.LastWord - &CO_OD_RAM.FirstWord);
if (CO_OD_RAM.FirstWord != CO_OD_RAM.LastWord)
TRACE_FATAL("Err COD in RAM\n\r");
TRACE_DEBUG("Checking COD in EEPROM (size=%d)\n\r", &CO_OD_EEPROM.LastWord - &CO_OD_EEPROM.FirstWord);
if (CO_OD_EEPROM.FirstWord != CO_OD_EEPROM.LastWord)
TRACE_FATAL("Err COD in EEPROM\n\r");
TRACE_DEBUG("Checking COD in ROM (size=%d)\n\r", &CO_OD_ROM.LastWord - &CO_OD_ROM.FirstWord);
if (CO_OD_ROM.FirstWord != CO_OD_ROM.LastWord)
TRACE_FATAL("Err COD in ROM\n\r");
/* increase variable each startup. Variable is stored in eeprom. */
OD_powerOnCounter++;
TRACE_INFO("CO power-on (BTR=%dk Node=0x%x)\n\r", CO_OD_ROM.CANBitRate, CO_OD_ROM.CANNodeID);
ttimer tprof;
while (reset != CO_RESET_APP) {
/* CANopen communication reset - initialize CANopen objects *******************/
static uint32_t timer1msPrevious;
CO_ReturnError_t err;
/* disable timer interrupts, turn on red LED */
canTimerOff = 1;
CanLedsSet(eCoLed_Red);
/* initialize CANopen */
err = CO_init();
if (err) {
TRACE_FATAL("CO_init\n\r");
/* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */
}
/* start Timer */
canTimerOff = 0;
reset = CO_RESET_NOT;
timer1msPrevious = CO_timer1ms;
TRACE_INFO("CO (re)start\n\r");
while (reset == CO_RESET_NOT) {
saveTime(&tprof);
/* loop for normal program execution ******************************************/
uint32_t timer1msDiff;
timer1msDiff = CO_timer1ms - timer1msPrevious;
timer1msPrevious = CO_timer1ms;
ClearWDT();
/* CANopen process */
reset = CO_process(CO, timer1msDiff);
CanLedsSet((LED_GREEN_RUN(CO->NMT)>0 ? eCoLed_Green : 0) | (LED_RED_ERROR(CO->NMT)>0 ? eCoLed_Red : 0));
ClearWDT();
/* (not implemented) eeprom_process(&eeprom); */
uint32_t t = getTime_us(&tprof);
OD_performance[ODA_performance_mainCycleTime] = t;
if (t > OD_performance[ODA_performance_mainCycleMaxTime])
OD_performance[ODA_performance_mainCycleMaxTime] = t;
} /* while (reset != 0) */
} /* while (reset != 2) */
/* program exit ***************************************************************/
/* save variables to eeprom */
CO_DISABLE_INTERRUPTS();
CanLedsSet(eCoLed_None);
/* (not implemented) eeprom_saveAll(&eeprom); */
CanLedsSet(eCoLed_Red);
/* delete CANopen object from memory */
CO_delete();
/* reset - by WD */
return 0;
}
