//------------------------------------------------------------------------------------
void tkControl(void * pvParameters)
{
( void ) pvParameters;
TickType_t xLastWakeTime;
const TickType_t sleepTime = ( 1000 / portTICK_RATE_MS );
u16 ffRcd;
StatBuffer_t pxFFStatBuffer;
vTaskDelay( ( TickType_t)( 500 / portTICK_RATE_MS ) );
MCP_init(); // Esto prende la terminal.
pv_wdgInit();
// inicializo la memoria EE ( fileSysyem)
ffRcd = FF_fopen();
FF_stat(&pxFFStatBuffer);
if ( pxFFStatBuffer.errno != pdFF_ERRNO_NONE ) {
snprintf_P( ctl_printfBuff,sizeof(ctl_printfBuff),PSTR("FSInit ERROR (%d)[%d]\r\n\0"),ffRcd, pxFFStatBuffer.errno);
} else {
snprintf_P( ctl_printfBuff,sizeof(ctl_printfBuff),PSTR("FSInit OK\r\nMEMsize=%d, wrPtr=%d,rdPtr=%d,delPtr=%d,Free=%d,4del=%d\r\n\0"),FF_MAX_RCDS, pxFFStatBuffer.HEAD,pxFFStatBuffer.RD, pxFFStatBuffer.TAIL,pxFFStatBuffer.rcdsFree,pxFFStatBuffer.rcds4del);
}
FreeRTOS_write( &pdUART1, ctl_printfBuff, sizeof(ctl_printfBuff) );
// load systemVars
if ( u_loadSystemParams() == TRUE ) {
snprintf_P( ctl_printfBuff,sizeof(ctl_printfBuff),PSTR("Load config OK.\r\n\0") );
} else {
u_loadDefaults();
u_saveSystemParams();
snprintf_P( ctl_printfBuff,sizeof(ctl_printfBuff),PSTR("Load config ERROR: defaults !!\r\n\0") );
}
FreeRTOS_write( &pdUART1, ctl_printfBuff, sizeof(ctl_printfBuff) );
snprintf_P( ctl_printfBuff,sizeof(ctl_printfBuff),PSTR("starting tkControl..\r\n\0"));
FreeRTOS_write( &pdUART1, ctl_printfBuff, sizeof(ctl_printfBuff) );
// Habilito arrancar las otras tareas
startTask = TRUE;
// Loop
for( ;; )
{
u_clearWdg(WDG_CTL);
// Ejecuto la rutina sincronicamente c/1s
// Wait for 1000ms.
vTaskDelayUntil( &xLastWakeTime, sleepTime );
xLastWakeTime = xTaskGetTickCount();
pv_flashLeds();
pv_checkWdg();
pv_dailyReset();
}
}
/*------------------------------------------------------------------------------
* Main Program
*----------------------------------------------------------------------------*/
int main(void) {
uartInit(12); /* baudrate 38400 */
sei();
MCP_init();
uartPutString("MCP2515 CAN Test\n");
/* request configuration mode */
MCP_WRITE_B(CANCTRL, CANCTRL_REQOP, REQOP_CONFIG);
/* configure SJW and Tq duration */
MCP_WRITE_B(CNF1, CNF1_SJW, 4-1); /* SJW = X-1 [Tq] */
MCP_WRITE_B(CNF1, CNF1_BRP, 0); /* Tq = 2*(X+1)/FOSC [s] */
/* configure phase seg1 and propseg */
MCP_WRITE_B(CNF2, CNF2_BTLMODE, 1);
MCP_WRITE_B(CNF2, CNF2_SAM, 1);
MCP_WRITE_B(CNF2, CNF2_PHSEG1, 4-1); /* PHSEG1 = X-1 [Tq] */
MCP_WRITE_B(CNF2, CNF2_PRSEG, 4-1); /* PRSEG = X-1 [Tq] */
/* configure phase seg2 and wakeup filter */
MCP_WRITE_B(CNF3, CNF3_WAKFIL, 1);
MCP_WRITE_B(CNF3, CNF3_PHSEG2, 4-1); /* PHSEG2 = X-1 [Tq] */
/* configure interrupts */
MCP_WRITE_R(CANINTE, 0);
// Mark all filter bits as don't care:
mcp_write_can_id(RXMnSIDH(0), 1, 0);
mcp_write_can_id(RXMnSIDH(1), 1, 0);
// Anyway, set all filters to 0:
mcp_write_can_id(RXF0SIDH, 0, 0);
mcp_write_can_id(RXF1SIDH, 0, 0);
mcp_write_can_id(RXF2SIDH, 0, 0);
mcp_write_can_id(RXF3SIDH, 0, 0);
mcp_write_can_id(RXF4SIDH, 0, 0);
mcp_write_can_id(RXF5SIDH, 0, 0);
/* request loopback mode */
MCP_WRITE_B(CANCTRL, CANCTRL_REQOP, REQOP_LOOPBACK);
uint8_t tmp = MCP_read(CANCTRL);
uartPutString("CANCTRL = ");
uartPutUInt8(tmp, 2);
uartPutString("\n");
tmp = MCP_read(CANSTAT);
uartPutString("CANSTAT = ");
uartPutUInt8(tmp, 2);
uartPutString("\n");
tmp = MCP_read(CNF1);
uartPutString("CNF1 = ");
uartPutUInt8(tmp, 2);
uartPutString("\n");
tmp = MCP_read(CNF2);
uartPutString("CNF2 = ");
uartPutUInt8(tmp, 2);
uartPutString("\n");
tmp = MCP_read(CNF3);
uartPutString("CNF3 = ");
uartPutUInt8(tmp, 2);
uartPutString("\n");
tmp = MCP_read(CANINTE);
uartPutString("CANINTE = ");
uartPutUInt8(tmp, 2);
uartPutString("\n");
/* main loop */
while(1) {
/* do nothing */
}
}
void tkCmd(void * pvParameters)
{
u08 c;
( void ) pvParameters;
// !!! Requiere que este inicializado el FRTOS porque usa semaforos.
MCP_init(); // IO ports for hardware
vTaskDelay( (portTickType)( 1000 / portTICK_RATE_MS ) );
initDebugRtc();
initBlueTooth();
vt100ClearScreen(CMD_UART);
// Inicializo los parametros de trabajo ( leo la internal EE ).
loadSystemParams();
// Inicializo la memoria. Leo el estado de los punteros ( leo la external EE).
BD_init();
//
vTaskDelay( (portTickType)( 100 / portTICK_RATE_MS ) );
snprintf_P( cmd_printfBuff,CHAR128,PSTR("\r\n.INIT EEmem BD: wrPtr=%d, rdPtr=%d, recUsed=%d, recFree=%d\r\n\0"), BD_getWRptr(), BD_getRDptr(), BD_getRcsUsed(), BD_getRcsFree() );
logPrintStr(LOG_NONE, cmd_printfBuff);
switch (mcpDevice) {
case MCP23008:
#ifdef CHANNELS_3
snprintf_P( cmd_printfBuff,CHAR128,PSTR("System: 3 analogIn,2 digitalIn\r\n\0"));
#endif
#ifdef CHANNELS_8
snprintf_P( cmd_printfBuff,CHAR128,PSTR("System: 8 analogIn,2 digitalIn\r\n\0"));
#endif
break;
case MCP23018:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("System: 3 analogIn,2 digitalIn,4 valves\r\n\0"));
break;
default:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("ERROR !! No analog system detected\r\n\0"));
break;
}
logPrintStr(LOG_NONE, cmd_printfBuff);
// Inicializo el sistema de consignas.
initConsignas();
switch (systemVars.consigna.tipo) {
case CONS_NONE:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("Init consignas: none\r\n\0"));
break;
case CONS_DOBLE:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("Init consignas: doble\r\n\0"));
break;
default:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("Init consignas: ERROR\r\n\0"));
break;
}
logPrintStr(LOG_NONE, cmd_printfBuff);
//
// Init Banner.
snprintf_P( cmd_printfBuff,CHAR128,PSTR("\r\nSpymovil %s %s"), SP5K_MODELO, SP5K_VERSION);
logPrintStr(LOG_NONE, cmd_printfBuff);
snprintf_P( cmd_printfBuff,CHAR128,PSTR(" %d-%s-%s"), NRO_CHANNELS, EE_TYPE, FTYPE);
logPrintStr(LOG_NONE, cmd_printfBuff);
snprintf_P( cmd_printfBuff,CHAR128,PSTR(" %s %s\r\n\0"), SP5K_REV, SP5K_DATE );
logPrintStr(LOG_NONE, cmd_printfBuff);
#ifdef MEMINFO
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_Uart0TxQueue=%lu\r\n\0"), HE_Uart0TxQueue );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_Uart1RxQueue=%lu\r\n\0"), HE_Uart1RxQueue );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_Uart1TxQueue=%lu\r\n\0"), HE_Uart1TxQueue );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_I2Cbus=%lu\r\n\0"), HE_I2Cbus );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_CmdUart=%lu\r\n\0"), HE_CmdUart );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_GprsUart=%lu\r\n\0"), HE_GprsUart );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_digitalIn=%lu\r\n\0"), HE_digitalIn );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_systemVars=%lu\r\n\0"), HE_systemVars );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_BD=%lu\r\n\0"), HE_BD );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkCmd=%lu\r\n\0"), HE_tkCmd );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkDigitalIn=%lu\r\n\0"), HE_tkDigitalIn );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkData=%lu\r\n\0"), HE_tkData );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkControl=%lu\r\n\0"), HE_tkControl );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkGprs=%lu\r\n\0"), HE_tkGprs );
logPrintStr(LOG_NONE, &cmd_printfBuff);
#endif
// Habilito al resto del sistema a arrancar
if (xSemaphoreTake( sem_systemVars, MSTOTAKESYSTEMVARSSEMPH ) == pdTRUE ) {
systemVars.initStatus = TRUE;
xSemaphoreGive( sem_systemVars );
}
for( ;; )
{
// Para medir el uso del stack
tkCmd_uxHighWaterMark = uxTaskGetStackHighWaterMark( NULL );
clearWdg(WDG_CMD);
while(xUartGetChar(CMD_UART, &c, (50 / portTICK_RATE_MS ) ) ) {
cmdlineInputFunc(c);
// Cada caracer recibido reinicio el timer.
restartTimerTerminal();
}
/* run the cmdline execution functions */
cmdlineMainLoop();
}
}
void tkControl(void * pvParameters)
{
( void ) pvParameters;
BaseType_t xResult;
uint32_t ulNotifiedValue;
MCP_init();
// TERMINAL: Debe ser lo primero que incia para poder mandar mensajes de log.
ac_terminal(INIT_TERM, NULL);
loadSystemParams();
// WATCHDOG
ac_wdg( INIT_WDG );
// LEDS
ac_systemLeds( INIT_LED );
// EXITWRKMODE2NORMAL
ac_exitWrkMode2Normal(INIT_EWM2N);
// MEMORIA
MEM_init();
snprintf_P( ctl_printfBuff,CHAR256,PSTR("Init memory: pWr=%d,pRd=%d,pDel=%d,free=%d,4rd=%d,4del=%d \r\n"), MEM_getWrPtr(), MEM_getRdPtr(), MEM_getDELptr(), MEM_getRcdsFree(),MEM_getRcds4rd(),MEM_getRcds4del() );
TERMrprintfStr( ctl_printfBuff );
// Habilito arrancar otras tareas
startToken = STOK_TIMERS;
// Espero la notificacion para arrancar
while ( startToken != STOK_CTL ) {
vTaskDelay( ( TickType_t)( 100 / portTICK_RATE_MS ) );
}
TERMrprintfProgStrM("starting tkControl..\r\n");
startToken++;
// Loop
for( ;; )
{
clearWdg(WDG_CTL);
// LED
ac_systemLeds(TOGGLE_LED);
// WATCHDOG
ac_wdg(CHECK_WDG);
// TERMINAL
ac_terminal(CHECK_TERM, NULL);
// EXITWRKMODE2NORMAL
ac_exitWrkMode2Normal(CHECK_EWM2N);
// Genero una espera de 100ms por algun mensaje para hacer algo.
xResult = xTaskNotifyWait( 0x00, /* Don't clear bits on entry. */
ULONG_MAX, /* Clear all bits on exit. */
&ulNotifiedValue, /* Stores the notified value. */
(100 / portTICK_RATE_MS ) );
if( xResult == pdTRUE ) {
// Arrancar el timer y control de modo service/monitor
if ( ( ulNotifiedValue & CTLMSG_STARTEWM2N ) != 0 ) {
ac_exitWrkMode2Normal(START_EWM2N);
}
}
}
}
