void APP_Run(void) {
int value;
char buffer[64];
#if 0
for(;;) {
printf("Hello world!\r\n");
LEDR_On();
WAIT1_Waitms(500);
LEDR_Off();
LEDG_On();
WAIT1_Waitms(500);
LEDG_Off();
}
#endif
for(;;) {
printf("Hello world!\r\n");
printf("Please enter a name:\n\r");
scanf("%s", buffer);
printf(" I have received: '%s'\r\n", buffer);
printf("Please enter a number:\r\n");
scanf("%i", &value);
printf(" I have received: '%i'\r\n", value);
}
}
static void CheckStatus(void) {
switch (FsMSD1_GetDeviceStatus()) {
case USB_DEVICE_IDLE:
break;
case USB_DEVICE_ATTACHED:
LEDR_Off();
LEDG_On();
print((unsigned char*)"Mass Storage Device Attached\n" );
break;
case USB_DEVICE_SET_INTERFACE_STARTED:
break;
case USB_DEVICE_INTERFACED:
break;
case USB_DEVICE_DETACHED:
LEDR_On();
LEDG_Off();
print((unsigned char*)"\nMass Storage Device Detached\n" );
break;
case USB_DEVICE_OTHER:
break;
default:
print((unsigned char*)"Unknown Mass Storage Device State\n");
break;
} /* switch */
}
static void CheckButton(void) {
uint32_t timeTicks; /* time in ticks */
#define BUTTON_CNT_MS 100 /* iteration count for button */
bool autoCalibrate = FALSE;
if (SW1_GetVal()==0) { /* button pressed */
/* short press (1 beep): start or stop line following if calibrated
* 1 s press (2 beep): calibrate manually
* 2 s press (3 beep): calibrate with auto-move
* 3 s press (4 beep or more): clear path
* */
FRTOS1_vTaskDelay(50/portTICK_RATE_MS); /* simple debounce */
if (SW1_GetVal()==0) { /* still pressed */
LEDG_On();
timeTicks = 0;
while(SW1_GetVal()==0 && timeTicks<=6000/BUTTON_CNT_MS) {
FRTOS1_vTaskDelay(BUTTON_CNT_MS/portTICK_RATE_MS);
if ((timeTicks%(1000/BUTTON_CNT_MS))==0) {
#if PL_HAS_BUZZER
BUZ_Beep(300, 200);
#endif
}
timeTicks++;
} /* wait until released */
autoCalibrate = FALSE;
if (timeTicks<1000/BUTTON_CNT_MS) { /* less than 1 second */
CLS1_SendStr((unsigned char*)"button press.\r\n", CLS1_GetStdio()->stdOut);
StateMachine(TRUE); /* <1 s, short button press, according to state machine */
} else if (timeTicks>=(1000/BUTTON_CNT_MS) && timeTicks<(2000/BUTTON_CNT_MS)) {
CLS1_SendStr((unsigned char*)"calibrate.\r\n", CLS1_GetStdio()->stdOut);
APP_StateStartCalibrate(); /* 1-2 s: start calibration by hand */
} else if (timeTicks>=(2000/BUTTON_CNT_MS) && timeTicks<(3000/BUTTON_CNT_MS)) {
CLS1_SendStr((unsigned char*)"auto calibrate.\r\n", CLS1_GetStdio()->stdOut);
APP_StateStartCalibrate(); /* 2-3 s: start auto calibration */
autoCalibrate = TRUE;
} else if (timeTicks>=(3000/BUTTON_CNT_MS)) {
CLS1_SendStr((unsigned char*)"delete solution.\r\n", CLS1_GetStdio()->stdOut);
MAZE_ClearSolution();
}
while (SW1_GetVal()==0) { /* wait until button is released */
FRTOS1_vTaskDelay(BUTTON_CNT_MS/portTICK_RATE_MS);
}
if (autoCalibrate) {
CLS1_SendStr((unsigned char*)"start auto-calibration...\r\n", CLS1_GetStdio()->stdOut);
/* perform automatic calibration */
WAIT1_WaitOSms(1500); /* wait some time */
TURN_Turn(TURN_LEFT90);
TURN_Turn(TURN_RIGHT90);
TURN_Turn(TURN_RIGHT90);
TURN_Turn(TURN_LEFT90);
TURN_Turn(TURN_STOP);
APP_StateStopCalibrate();
CLS1_SendStr((unsigned char*)"auto-calibration finished.\r\n", CLS1_GetStdio()->stdOut);
}
}
} /* if */
}
static portTASK_FUNCTION(Task2, pvParameters) {
(void) pvParameters; //parameter not used
for (;;) {
LEDB_Off();
LEDR_Off();
LEDG_On();
//FRTOS1_vTaskDelay(500/portTICK_RATE_MS);
}
}
/*
** ===================================================================
** Method : LEDG_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 LEDG_SetRatio16(word ratio)
{
/* on/off LED: binary on or off */
if (ratio<(0xffff/2)) {
LEDG_Off();
} else {
LEDG_On();
}
}
/*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. ***/
for(;;) {
LEDR_On();
WAIT1_Waitms(500);
LEDR_Off();
WAIT1_Waitms(500);
LEDG_On();
WAIT1_Waitms(500);
LEDG_Off();
LEDB_On();
WAIT1_Waitms(500);
LEDB_Off();
LEDR_SetRatio16(0xc000);
WAIT1_Waitms(500);
LEDR_SetRatio16(0x8000);
WAIT1_Waitms(500);
LEDR_SetRatio16(0x4000);
WAIT1_Waitms(500);
LEDR_SetRatio16(0x1000);
WAIT1_Waitms(500);
LEDR_SetRatio16(0x500);
WAIT1_Waitms(500);
LEDR_SetRatio16(0x100);
WAIT1_Waitms(500);
}
/*** 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!!! ***/
static void Test(void) {
UINT bw; /* number of bytes written */
if (FAT1_isDiskPresent()) { /* if no hardware CardDetect pin is assigned, it will always return TRUE */
LEDR_On(); /* turn red RGB LED on */
FAT1_mount(0, &fs); /* mount file system */
if (!FAT1_isWriteProtected()) { /* if no hardware WritePtotect pin is assigned, it will always return FALSE */
LEDG_On(); /* turn green RGB LED on */
if (FAT1_open(&fp, "./test.txt", FA_CREATE_ALWAYS|FA_WRITE)!=FR_OK) { /* open file, will always create it if not already on disk */
for(;;){} /* error! */
}
if (FAT1_write(&fp, "Hello World!", sizeof("Hello World!")-1, &bw)!=FR_OK) { /* write string to file */
for(;;){} /* error! */
}
}
(void)FAT1_close(&fp); /* close file */
FAT1_mount(0, NULL); /* unmount file system */
}
}
static void StateMachine(bool buttonPress) {
static uint8_t cnt;
switch (appState) {
case APP_STATE_INIT:
LEDG_Off();
LEDR_On();
if (buttonPress) {
APP_StateStartCalibrate();
}
break;
case APP_STATE_CALIBRATE:
cnt++;
if (cnt>50) {
cnt = 0;
LEDR_Neg();
}
if (buttonPress) {
APP_StateStopCalibrate();
}
break;
case APP_STATE_IDLE:
LEDR_Off();
LEDG_On();
if (buttonPress) {
LF_StartFollowing();
appState = APP_STATE_FOLLOW;
}
break;
case APP_STATE_FOLLOW:
LEDR_Off();
LEDG_Off();
if (!LF_IsFollowing()) {
appState = APP_STATE_IDLE;
}
if (buttonPress) {
LF_StopFollowing();
appState = APP_STATE_IDLE;
}
break;
} /* switch */
}
static void StateMachine(bool buttonPress) {
#if PL_APP_FOLLOW_OBSTACLE || PL_APP_LINE_FOLLOWING || PL_APP_LINE_MAZE
static uint8_t cnt;
#endif
switch (appState) {
case APP_STATE_INIT:
LEDG_Off();
LEDR_On();
#if PL_APP_LINE_FOLLOWING || PL_APP_LINE_MAZE
if (buttonPress) {
APP_StateStartCalibrate();
}
#elif PL_APP_FOLLOW_OBSTACLE
appState = APP_STATE_IDLE;
#endif
break;
#if PL_APP_FOLLOW_OBSTACLE
case APP_STATE_FOLLOW_OBSTACLE:
cnt++;
if (cnt>50) {
cnt = 0;
LEDR_Neg();
}
if (buttonPress) {
followObstacle = FALSE;
appState = APP_STATE_IDLE;
}
break;
#endif
#if PL_APP_LINE_FOLLOWING || PL_APP_LINE_MAZE
case APP_STATE_CALIBRATE:
cnt++;
if (cnt>50) {
cnt = 0;
LEDR_Neg();
}
if (buttonPress) {
APP_StateStopCalibrate();
}
break;
#endif
case APP_STATE_IDLE:
LEDR_Off();
LEDG_On();
if (buttonPress) {
#if PL_APP_LINE_FOLLOWING || PL_APP_LINE_MAZE
LF_StartFollowing();
appState = APP_STATE_FOLLOW_LINE;
#elif PL_APP_FOLLOW_OBSTACLE
followObstacle = TRUE;
appState = APP_STATE_FOLLOW_OBSTACLE;
#endif
}
break;
#if PL_APP_LINE_FOLLOWING || PL_APP_LINE_MAZE
case APP_STATE_FOLLOW_LINE:
LEDR_Off();
LEDG_Off();
if (!LF_IsFollowing()) {
appState = APP_STATE_IDLE;
}
if (buttonPress) {
LF_StopFollowing();
appState = APP_STATE_IDLE;
}
break;
#endif
} /* switch */
}
static void Run(void) {
bool doSampling = FALSE;
bool triggered = FALSE;
uint32_t heartBeat;
frequencyDivider freqDivider; // supported from V1.02
unsigned long data;
unsigned char cmd;
int i = 0;
// prepare SUMP variables
triggerData[0].mask = 0;
triggerData[0].values = 0;
triggerData[0].configuration = 0;
triggerData[1].mask = 0;
triggerData[1].values = 0;
triggerData[1].configuration = 0;
triggerData[2].mask = 0;
triggerData[2].values = 0;
triggerData[2].configuration = 0;
triggerData[3].mask = 0;
triggerData[3].values = 0;
triggerData[3].configuration = 0;
// and preset Timer
setSampleFrequency(DEFAULT_CLOCK_DIVIDER);
heartBeat = DEFAULT_HEARTBEAT_COUNTER;
for(;;) {
i++;
if (i > heartBeat) { /* heartbeat LED (red) if not sampling */
if (!doSampling) {
LEDR_Neg();
}
i = 0;
}
if (finishedSampling) {
finishedSampling = FALSE;
doSampling = FALSE;
triggered = FALSE;
SendData();
LEDR_Off();
LEDG_Off();
}
if (AS1_GetCharsInRxBuf()!=0) {
cmd = GetChar();
switch (cmd) {
case SUMP_RESET:
finishedSampling = FALSE;
doSampling = FALSE;
triggered = FALSE;
LEDR_Off();
LEDG_Off();
break;
case SUMP_RUN:
bufferSize = BUFFERSIZE;
finishedSampling = FALSE;
doSampling = TRUE;
if (triggerData[0].mask==0) { // no trigger active, simply start sampling
LEDR_Off();
//LEDB_On();
triggered = TRUE;
TransferDMA();
} else {
LEDR_Off();
LEDG_On();
while (!triggered) {
// Use short (fast) loop to detect trigger
data = (Byte1_GetVal() & 0xFF);
/* for now, we support only reading from 8 Probes
data = ( Byte2_GetVal() & 0xFF ) << 8;
data = ( Byte3_GetVal() & 0xFF ) << 16;
data = ( Byte4_GetVal() & 0xFF ) << 24;
*/
/* use this, if single condition mask (AND) needed */
if (!triggered && triggerData[0].mask != 0) {
if ((data & triggerData[0].mask) == triggerData[0].values) { /* matching trigger */
/* use this, if multiple conditions (OR) are needed
for (i = 0; i < DEVICE_NOF_PROBES; i++)
{ // we can handle all supported 32 Bits
if ((triggerData[0].mask & 1 << i) > 0)
{ // if mask bit is set, check if values bit meets the probe bit
if ((triggerData[0].values & 1 << i)
== (data & 1 << i))
{ // yes, we start if any trigger bit meets condition (primitive trigger only)
*/
LEDG_Off();
//LEDB_On();
triggered = TRUE;
// enable DMA AND Trigger first transfer to pick up Trigger
// port value from Port
// TODO: replace trigger handling by GPIO external trigger
// for Level and Edge
TransferDMA();
break;
} /* if */
} /* if */
// BUT : do not lockup the analyzer!!!
if (AS1_GetCharsInRxBuf()!= 0 && GetChar() == SUMP_RESET) {
finishedSampling = FALSE;
doSampling = FALSE;
triggered = FALSE;
//LEDB_Off();
LEDG_Off();
break; // leave the While(!triggered) loop
} /* while */
} /* while */
} /* if-else */
break;
case SUMP_ID:
PutString("1ALS");
break;
case SUMP_GET_METADATA:
/* device name: */
PutChar(0x01);
PutString(DEVICE_NAME);
PutChar(0x00);
/* 'Firmware version: */
PutChar(0x02);
PutString(DEVICE_FW_VERSION);
PutChar(0x00);
/* 'Ancillary' version: */
PutChar(0x03);
PutString(DEVICE_ANCILLARY);
PutChar(0x00);
/* amount of sample memory available (bytes) */
SUMP_sendmeta_uint32(0x21, BUFFERSIZE);
/* maximum sample rate (Hz) */
SUMP_sendmeta_uint32(0x23, MAX_SAMPLERATE);
/* number of usable probes (short) */
SUMP_sendmeta_uint8(0x40, DEVICE_NOF_PROBES);
/* protocol version (short) */
SUMP_sendmeta_uint8(0x41, DEVICE_PROTOCOL_VERSION);
/* end of meta data */
PutChar(0x00);
break;
/* long commands.. consume bytes from UART, NYI */
/* Set Trigger Mask*/
case 0xC0:
triggerData[0].mask = GetChar();
triggerData[0].mask |= GetChar() << 8;
triggerData[0].mask |= GetChar() << 16;
triggerData[0].mask |= GetChar() << 24;
break;
case 0xC4:
triggerData[1].mask = GetChar();
triggerData[1].mask |= GetChar() << 8;
triggerData[1].mask |= GetChar() << 16;
triggerData[1].mask |= GetChar() << 24;
break;
case 0xC8:
triggerData[2].mask = GetChar();
triggerData[2].mask |= GetChar() << 8;
triggerData[2].mask |= GetChar() << 16;
triggerData[2].mask |= GetChar() << 24;
break;
case 0xCC:
triggerData[3].mask = GetChar();
triggerData[3].mask |= GetChar() << 8;
triggerData[3].mask |= GetChar() << 16;
triggerData[3].mask |= GetChar() << 24;
break;
/* Set Trigger Values */
case 0xC1:
triggerData[0].values = GetChar();
triggerData[0].values |= GetChar() << 8;
triggerData[0].values |= GetChar() << 16;
triggerData[0].values |= GetChar() << 24;
break;
case 0xC5:
triggerData[1].values = GetChar();
triggerData[1].values |= GetChar() << 8;
triggerData[1].values |= GetChar() << 16;
triggerData[1].values |= GetChar() << 24;
break;
case 0xC9:
triggerData[2].values = GetChar();
triggerData[2].values |= GetChar() << 8;
triggerData[2].values |= GetChar() << 16;
triggerData[2].values |= GetChar() << 24;
break;
case 0xCD:
triggerData[3].values = GetChar();
triggerData[3].values |= GetChar() << 8;
triggerData[3].values |= GetChar() << 16;
triggerData[3].values |= GetChar() << 24;
break;
/* Set Trigger Configuration */
case 0xC2:
triggerData[0].configuration = GetChar();
triggerData[0].configuration |= GetChar() << 8;
triggerData[0].configuration |= GetChar() << 16;
triggerData[0].configuration |= GetChar() << 24;
break;
case 0xC6:
triggerData[1].configuration = GetChar();
triggerData[1].configuration |= GetChar() << 8;
triggerData[1].configuration |= GetChar() << 16;
triggerData[1].configuration |= GetChar() << 24;
break;
case 0xCA:
triggerData[2].configuration = GetChar();
triggerData[2].configuration |= GetChar() << 8;
triggerData[2].configuration |= GetChar() << 16;
triggerData[2].configuration |= GetChar() << 24;
break;
case 0xCE:
triggerData[3].configuration = GetChar();
triggerData[3].configuration |= GetChar() << 8;
triggerData[3].configuration |= GetChar() << 16;
triggerData[3].configuration |= GetChar() << 24;
break;
case SUMP_SET_DIVIDER:
// preliminary; received divider values seems to need more testing
freqDivider = GetChar();
freqDivider |= GetChar() << 8;
freqDivider |= GetChar() << 16;
(void)GetChar();
setSampleFrequency(freqDivider);
break;
case SUMP_SET_READ_DELAY_COUNT:
rdCount = GetChar();
rdCount |= GetChar() << 8;
rdCount |= GetChar() << 16;
rdCount |= GetChar() << 24;
break;
/* Set Flag */
case SUMP_SET_FLAGS:
flags = GetChar();
flags |= (GetChar() << 8);
flags |= (GetChar() << 16);
flags |= (GetChar() << 24);
break;
default:
break;
} /* switch */
}
}
}
