Worker::Worker(Communicator *communicator, QObject *parent) :
QObject(parent)
{
m_waitingCount = 0;
m_communicator = communicator;
m_ready = false;
m_currentLine = -1;
m_commandList = QStringList();
m_currentState = StoppedState;
m_bufferSize = 3;
aliveTimer = new QTimer(this);
aliveTimer->setInterval(1000); // 1s
aliveTimer->start();
connect(m_communicator, SIGNAL(usbConnected()),
this, SLOT(usbConnected()));
connect(m_communicator, SIGNAL(usbDisconnected()),
this, SLOT(usbDisconnected()));
connect(m_communicator, SIGNAL(commandReceived(QByteArray)),
this, SLOT(commandReceived(QByteArray)));
connect(aliveTimer, SIGNAL(timeout()),
this, SLOT(aliveTimerTick()));
}
int main(void) {
fiprintf(stderr, "Power Up!\n\r");
while (1) {
GPIO_SET(IO_LED);
GPIO_SET(IO_ASSIST_AIR);
GPIO_CLEAR(IO_EXHAUST);
GPIO_CLEAR(IO_LASER_FIRE);
delay(500);
GPIO_CLEAR(IO_LED);
GPIO_CLEAR(IO_ASSIST_AIR);
GPIO_SET(IO_EXHAUST);
GPIO_SET(IO_LASER_FIRE);
delay(500);
fiprintf(stderr, "USB connected: %d\n\r", usbConnected());
if (usbConnected()) {
usbSendFlush(TESTHEST, sizeof(TESTHEST));
}
fiprintf(stderr, "Airflow: %d (%d %%)\n\r", READ_ADC(IO_AIRFLOW), airflow());
fprintf(stderr, "T out: %d (%f Ohm, %f degC)\n\r",
READ_ADC(IO_TEMP_OUT),
readNTCres(IO_CHAN(IO_TEMP_OUT)),
readNTCcelcius(IO_CHAN(IO_TEMP_OUT))
);
fprintf(stderr, "T in: %f degC\n\r", readNTCcelcius(IO_CHAN(IO_TEMP_IN)));
fprintf(stderr, "T inter: %f degC\n\r", readNTCcelcius(IO_CHAN(IO_TEMP_INTERNAL)));
fiprintf(stderr, "Supply: %d mv\n\r", supplyVoltage());
unsigned int err0 = errorUART(IO_DEBUG_RX);
if (err0) {
fiprintf(stderr, "Debug UART Error: %x\n\r", err0);
}
err0 = errorUART(IO_WATCHDOG_RX);
if (err0) {
fiprintf(stderr, "Watchdog UART Error: %x\n\r", err0);
}
err0 = errorUART(IO_CHILLER_RX);
if (err0) {
fiprintf(stderr, "Chiller UART Error: %x\n\r", err0);
}
}
}
int main(void)
{
/*
* Start OS and HAL
*/
halInit();
chSysInit();
setupIPC();
DEBUGEN(printf("App Mode\n"));
usbDisconnectBus(&USBD1);
/*
* Initialize extra driver objects.
*/
sduObjectInit(&SDU1);
sduObjectInit(&SDU2);
/*
* Start peripherals
*/
sdStart(&SD1, &uart1Cfg);
sdStart(&SD2, &uart2Cfg);
sdStart(&SD3, &uart3Cfg);
usbStart(&USBD1, &usbcfg);
sduStart(&SDU1, &serusbcfg1);
sduStart(&SDU2, &serusbcfg2);
canStart(&CAND1, &cancfg);
dacStart(&DACD1, &dac1cfg1);
adcStart(&ADCD1, NULL);
adcStart(&ADCD3, NULL);
timcapStart(&TIMCAPD3, &tc_conf);
pwmStart(&PWMD_LED2, &pwmcfg);
eeInit();
// Compare and update versions in EEprom if needed.
version_t v;
if (readVersionFromEE(VERSION_IDX_APP, &v) == 0 && memcmp(&versions, &v, sizeof(version_t)) != 0) {
writeVersionToEE(VERSION_IDX_APP, &versions[VERSION_IDX_APP]);
}
if (readVersionFromEE(VERSION_IDX_BL, &v) == 0 ) {
memcpy(&versions[VERSION_IDX_BL], &v, sizeof(version_t));
}
/*
* Creates the threads.
*/
chThdCreateStatic(waThreadBDU, sizeof(waThreadBDU), NORMALPRIO+5, ThreadBDU, NULL);
chThdCreateStatic(waThreadSDU, sizeof(waThreadSDU), NORMALPRIO+2, ThreadSDU, NULL);
chThdCreateStatic(waThreadADC, sizeof(waThreadADC), NORMALPRIO, ThreadADC, NULL);
chThdCreateStatic(waThreadKnock, sizeof(waThreadKnock), NORMALPRIO, ThreadKnock, NULL);
chThdCreateStatic(waThreadCAN, sizeof(waThreadCAN), NORMALPRIO, ThreadCAN, NULL);
chThdCreateStatic(waThreadSER1, sizeof(waThreadSER1), NORMALPRIO, ThreadSER1, NULL);
chThdCreateStatic(waThreadRecord, sizeof(waThreadRecord), NORMALPRIO+1, ThreadRecord, NULL);
chThdCreateStatic(waThreadWdg, sizeof(waThreadWdg), HIGHPRIO, ThreadWdg, NULL);
/* Create last as it uses pointers from above */
chThdCreateStatic(waThreadMonitor, sizeof(waThreadMonitor), NORMALPRIO+10, ThreadMonitor, NULL);
while (TRUE)
{
while(USBD1.state != USB_READY) chThdSleepMilliseconds(10);
chThdSleepMilliseconds(100);
if (usbConnected())
{
usbConnectBus(&USBD1);
}
else
{
usbDisconnectBus(&USBD1);
}
}
}
