void GUI_X_WaitEvent (void)
{
INT8U err;
(void)OSMboxPend(EventMbox, 0, &err);
}
/*****************************************************************************
** Function name: LiftTableHandle
** Descriptions: 给设备管理任务发送升降机控制邮箱
** parameters: HandleType:操作类型1:出货操作 2:检查状态 3:查询出货结果
ChannelNum:逻辑货道编号
LevelNum:层编号
Binnum:箱柜编号
BackMsg:返回的数据
** Returned value: 0:成功;1:失败;
*****************************************************************************/
unsigned char LiftTableHandle(unsigned char HandleType,unsigned char ChannelNum,unsigned char LevelNum,unsigned char Binnum,unsigned char *BackMsg)
{
MessagePack *RecvBoxPack;
uint8_t err,i;
MsgAccepterPack.ChnlHandleType = HandleType;
MsgAccepterPack.ChannelNum = ChannelNum;
MsgAccepterPack.Binnum = Binnum;
MsgAccepterPack.LevelNum = LevelNum;
TraceChannel("LiftTableHandle[start]:type = %d\r\n",HandleType);
liftSetReady(0);
OSMboxPost(g_LiftTableMail,&MsgAccepterPack);
RecvBoxPack = OSMboxPend(g_LiftTableBackMail,LIFT_HANDLE_TIMEOUT,&err);
liftSetReady(1);
if(err == OS_NO_ERR){
TraceChannel("LiftTableHandle[pend]:type=%d\r\n",HandleType);
for(i=0;i<10;i++){
BackMsg[i] = RecvBoxPack->LiftTablePack[i];
}
return RecvBoxPack->HandleResult;
}
TraceChannel("LiftTableHandle[pend]:timeout!\r\n");
return 0xFF;
}
void Task1_Task(void * ptr_args)
{
INT8U err;
TASK1_MBOX_TypeDef * mbox;
//
// The first task to run must call this function
//
OS_CPU_SysTickInit(1000);
LEDS_Off(LED_0);
LEDS_Off(LED_1);
for (;;){
mbox = (TASK1_MBOX_TypeDef *) OSMboxPend(task1_mbox, OS_MBOX_TIMEOUT_MAX, &err);
if (err == OS_ERR_NONE){
if (mbox->action == 0x01){
LEDS_Toggle(LED_0);
}else{
LEDS_Toggle(LED_1);
}
}
}
}
static void OSView_Task (void *p_arg)
{
INT16U len;
INT8U err;
#if OS_SEM_EN == 0 && OS_MBOX_EN > 0
void *msg;
#endif
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0;
#endif
(void)p_arg;
while (1)
{
#if OS_SEM_EN > 0
(void)OSSemPend(OSView_Sem, 0, &err); /* Wait for a packet to be received */
#else
#if OS_MBOX_EN > 0
(void)OSMboxPend(OSView_Mbox, 0, &err); /* Wait for a packet to be received */
#endif
#endif
len = OSView_CmdParsePkt(); /* Parse packet and formulate a response */
if (len > 0) { /* If we have a response */
OS_ENTER_CRITICAL(); /* Setup transmission of the response */
OSView_TxLen = len;
OS_EXIT_CRITICAL();
OSView_TxStart();
}
}
}
void inquiry_slave_status(u8 id)
{ u8 *msg;
u8 err;
order_trans_rs485(mybox.myid,id,2,0,0);
// delay_us(10000);
msg=(u8 *)OSMboxPend(RS485_STUTAS_MBOX,OS_TICKS_PER_SEC/50,&err);
if(err==OS_ERR_TIMEOUT)
{
set_statuslist_1(id,0,2,0,0);set_statuslist_2(id,0,2,0,0);set_statuslist_3(id, 0,2,0,0);
}//(u8 id, u8 size, u8 work_status, u8 work_time)
else
rs485_trans_status(msg);
if(id==mybox.myid)
{
if(mystatus.three_offset==0)
{
set_statuslist_1(mystatus.myid,mystatus.size[0],mystatus.work_status[0],mystatus.work_time[0],0);//主机状态信息写入状态表
set_statuslist_2(mystatus.myid,mystatus.size[1],mystatus.work_status[1],mystatus.work_time[1],0);
set_statuslist_3(id, 0,2,0,0);
}
if(mystatus.three_offset==1)
{
set_statuslist_1(mystatus.myid,mystatus.size[0],mystatus.work_status[0],mystatus.work_time[0],1);//主机状态信息写入状态表
set_statuslist_2(mystatus.myid,mystatus.size[1],mystatus.work_status[1],mystatus.work_time[1],1);
set_statuslist_3(mystatus.myid,mystatus.size[2],mystatus.work_status[2],mystatus.work_time[2],1);
}
}
} //查询从机状态并保存到从机状态表中，参数id是要查询的从机号
/************************************************************
* 函数名：handshake_task
* 描述 ：握手任务
* 输入 ：无
* 输出 ：无
* 调用 ：无
************************************************************/
void handshake_task(void *pdata)
{
u8 *rxbuf;
INT8U err;
while(1)
{
OSTimeDlyHMSM(0, 0,1,0);
if(Usart_flag)
{
HandShake();
rxbuf = (u8*)OSMboxPend(msg_hand,100,&err);
if(0x51 == rxbuf[1])//收到回复
{
UsartAskCnt = 0;
}
else //未收到回复
{
if(UsartAskCnt<=5)
UsartAskCnt++;
if(UsartAskCnt==5)
{
State = 0;
netState.Net_Insert[0] = 0;
netState.Net_Insert[1] = 0;
netState.Net_Insert[2] = 0;
DisableEncode();
AllLedOff();
NixieTube_AllOff();
}
}
}
}
}
int getCurrentFingerprintId(bool enrollNow) {
INT8U err;
int *fid;
err = OSSemPost(fingerprintSem);
m_enrollNow = enrollNow;
fid = (int*) OSMboxPend(fingerprintMailbox, 0, &err);
return *fid;
}
void Task_UART0Rx(void *pdata){
INT8U err;
INT32U Recv = 0;
Recv = Recv;
while(1){
Recv = (INT32U)OSMboxPend(Mbox_UART0Rx,0,&err);
OSMboxPost(Mbox_UART0Tx,(void*)PackageRx0.iData);
OSMboxPost(Mbox_BEEPMAN,(void*)PackageRx0.iType);
}
}
//邮箱接收函数任务
void AppMBOXTask(void *pdata)
{
uint8_t key;
uint8_t err;
uint16_t TaskCtr=0;
pdata=pdata; //防止编译器出错 无实际意义
while(1)
{
key=(uint32_t)OSMboxPend(msg_test,0,&err); //等待消息邮箱
TaskCtr++;
UART_printf("Received MBox:%d \r\n", key);
}
}
void Task_LCDMAN(void *pdata){
char* src;
INT8U err;
while(1){
src = (char*)OSMboxPend(Mbox_LCDMAN,0,&err);
LCDClear();
//LCDString(0,"ID:");
LCDString(0,src);
OSTimeDlyHMSM(0,0,3,0);
LCDClear();
LCDString(0," Bitman Lab\n Log System.");
}
}
void Task_UART0TX(void *pdata){
INT8U err;
INT32U Recv = 0;
while(1){
Recv = (INT32U)OSMboxPend(Mbox_UART0Tx,0,&err);
PackageTx0.iSave = 0x0;
PackageTx0.iType = iOPcode;
PackageTx0.iData = Recv;
PackageTx0.iMagicNumber = MAGIC;
sendbin0((INT8U*)&PackageTx0,sizeof(PackageFormat));
itos_dec(Recv,vBuffer,10);
OSTimeDlyResume(15);
OSMboxPost(Mbox_LCDMAN,(void*)vBuffer);
}
}
void AppDebugTask (void *p_arg)
{
CPU_INT08S * rxMessage;
CPU_INT08U *err;
Debug_PutString("\n\rUART 2 Ready..");
Handle_Reset();
while(1)
{
Task_WDT[4] = 1; // DEBUG_TASK WATCHDOG STATUS BIT
rxMessage = (CPU_INT08S*)OSMboxPend(UART2MboxPtr, 9000, err);
// if((*rxMessage) == COUNT_2000MS_TIMER)
{
}
}
}
/*********************************************************************//**
* @brief Client Parer uc/OS II task
* @param[in] p_arg parameter
* @return None
***********************************************************************/
void ClientParserTask(void *p_arg)
{
uint8_t b;
INT8U err = OS_ERR_NONE;
(void) p_arg; // avoid compile warning
// Start Client Parser
for (;;) {
OSMboxPend(client_parser.event, 500, &err);
if (err == OS_ERR_NONE) {
while (!RingBufferIsEmpty(&(client_parser.buffer))) {
RingBufferPop(&(client_parser.buffer), &b);
client_parser.parser[client_parser.mode](&b);
}
}
}
}
/*
*******************************************************************************
**
** This function waits until a message is available in the given mailbox.
** The suspend argument controls whether this function will be in blocking
** mode or not while waiting for a message. A waiting message will be cleared
**
*******************************************************************************
*/
RTOS_Message RTOS_MailboxWait( RTOS_Mailbox mailbox, RTOS_Flag suspend )
{
INT8U error = OS_NO_ERR;
void* message = 0;
if( ! RTOS_MailboxIsValid( mailbox ) )
return( (RTOS_Message)0 );
if( suspend )
message = OSMboxPend( (OS_EVENT*)mailbox, (INT16U)0, &error );
else
message = OSMboxAccept( (OS_EVENT*)mailbox );
if( ( error != OS_NO_ERR ) || ( message == 0 ) )
return( (RTOS_Message)0 );
return( message );
}
unsigned char TestLiftTablePend(unsigned char *BackMsg)
{
MessagePack *RecvBoxPack;
uint8_t err,i;
//等待邮箱返回
RecvBoxPack = OSMboxPend(g_LiftTableBackMail,50/5,&err);
if(err == OS_NO_ERR)
{
TraceChannel("BackMsg=\r\n");
for(i=0;i<10;i++)
{
BackMsg[i] = RecvBoxPack->LiftTablePack[i];
TraceChannel("%x ",BackMsg[i]);
}
return RecvBoxPack->HandleResult;
}
return 0xff;
}
void Task5(void *pdata)
{
unsigned char err = 0;
MsgTask *p = (MsgTask *)0;
pdata=pdata;
while(1)
{
p = (MsgTask *)OSMboxPend(Tmbox,0,&err);
t5 = p->cnt;
com_putstring(p->msg, 5);
com_putenter();
p->msg = "Task5";
OSMboxPost(Tmbox, (void *)p);
PA_OUT_REV(LED5);
}
}
void board_control_task(void *pdata)
{
INT8U error_code = OS_NO_ERR;
board_control_mbox = OSMboxCreate((void *)NULL);
struct http_form_data* board_control_mbox_contents;
while(1)
{
board_control_mbox_contents = (void*)OSMboxPend(board_control_mbox, 0, &error_code);
if (board_control_mbox_contents->LED_ON)
{
OSTaskResume(LED_PRIO);
}
else
{
/* Suspend the task and clear the LED. */
OSTaskSuspend(LED_PRIO);
IOWR_ALTERA_AVALON_PIO_DATA( LEDG_BASE, 0 );
}
if (board_control_mbox_contents->SSD_ON)
{
OSTaskResume(SSD_PRIO);
}
else
{
/* Suspend the task and set SSD to all zeros. */
OSTaskSuspend(SSD_PRIO);
#ifdef SEG7_NAME
//sevenseg_set_hex(0);
#endif
}
/* Always dump text to the LCD... */
#ifdef LCD_NAME
lcd_output_text( board_control_mbox_contents->LCD_TEXT );
usleep(500*1000);
#endif
}
}
/*
*******************************************************************************
**
** This function waits until a message is available in the given mailbox.
** The suspend argument controls whether this function will be in blocking
** mode or not while waiting for a message. A waiting message will be cleared
**
*******************************************************************************
*/
RTOS_Message RTOS_MailboxWaitTimeout( RTOS_Mailbox mailbox, RTOS_Time msecs )
{
INT16U ticks = msecs / RTOS_KernelTimerGetPeriod();
INT8U error = OS_NO_ERR;
void* message = 0;
if( ! RTOS_MailboxIsValid( mailbox ) )
return( (RTOS_Message)0 );
if( msecs == 0 )
return( RTOS_MailboxWait( mailbox, GFALSE ) );
if( msecs == (RTOS_Time)-1)
return( RTOS_MailboxWait( mailbox, GTRUE ) );
message = OSMboxPend( (OS_EVENT*)mailbox, (INT16U)0, &error );
if( ( error != OS_NO_ERR ) || ( message == 0 ) )
return( (RTOS_Message)0 );
return( message );
}
void DIR_TASK(void *p_arg)
{
uint8_t err;
double servo_corner,Location_corner,B,D;
float Servo_pwm_duty,A;
uint8_t* Track_Midline_value;
(void)p_arg;
while(1)
{
Track_Midline_value = OSMboxPend(Str_Box_2,0,&err);
B = *Track_Midline_value;
printf("Track_value = %f\n",B);
Location_corner = PID_Calc(1, 0, *Track_Midline_value);
D = servo_corner;
printf("servo_corner = %f\n",D);
Servo_pwm_duty = Servo_pwm(Location_corner);
A = Servo_pwm_duty;
printf("Servo_pwm_duty = %f\n",A);
FTM_PWM_ChangeDuty(HW_FTM1,HW_FTM_CH0,Servo_pwm_duty);
OSTimeDlyHMSM(0,0,0,50);
}
}
void SCU_TASK(void *p_arg)
{
uint32_t* speed;
uint8_t err;
int PWM_Duty = 0;
int B;
(void)p_arg;
LCD_Print(1,2,"speed = 1.0m/s");
while(1)
{
PID_Init();
speed = OSMboxPend(Str_Box_1,0,&err); //请求消息；获得当前速度
// printf("process_point = %d\n",*speed);
PWM_Duty += PID_Calc(0, *speed, 0);
B = PWM_Duty;
printf("PWM = %d\n",B);
if(PWM_Duty >= 1000)
{
FTM_PWM_ChangeDuty(HW_FTM0,HW_FTM_CH0,1000); /* 0-10000 对应 0-100%占空比 */
// LCD_Print(1,5,"FULL_SPEED");
printf("PWM_Duty = 100 \n");
}
if(PWM_Duty > 0 && PWM_Duty < 1000)
{
FTM_PWM_ChangeDuty(HW_FTM0,HW_FTM_CH0,PWM_Duty); /* 0-10000 对应 0-100%占空比 */
// LCD_Print(1,7,"Part_SPEED");
printf("PWM_Duty = %d\n",PWM_Duty/100);
}
if (PWM_Duty <= 0)
{
FTM_PWM_ChangeDuty(HW_FTM0,HW_FTM_CH0,0); /* 0-10000 对应 0-100%占空比 */
printf("PWM_Duty = 0\n");
}
OSTimeDlyHMSM(0,0,0,50);
}
}
void Task_LEDMAN(void *pdata){
INT8U err;
INT32U Recv = 0;
Recv = Recv;
while(1){
Recv = (INT32U)OSMboxPend(Mbox_LEDMAN,0,&err);
switch (iOPcode){
case TYPE_KEY:
rGPBDAT = (7<<5);
break;
case TYPE_QUERY:
rGPBDAT = (11<<5);
break;
case TYPE_DEFAULT:
rGPBDAT = (15<<5);
break;
case TYPE_INSERT:
rGPBDAT = (13<<5);
break;
default:
break;
}
}
}
void Task3(void *pdata)
{
pdata = pdata;
//adc_init();
unsigned char err = 0;
MsgTask *p = (MsgTask *)0;
while(1)
{
//adc_switch_channel(ADC_VOLTAGE);
//START_ADC();
PA_OUT_REV(LED3);
//t5 = ADC;
//com_printf("ADC = %d\n", t5);
pMsgTask->cnt = 255-t5;
pMsgTask->msg = "Task3";
OSMboxPost(Tmbox, (void *)pMsgTask);
p = (MsgTask *)OSMboxPend(Tmbox,0,&err);
com_putstring(p->msg, 5);
com_putenter();
OSTimeDly(OS_TICKS_PER_SEC);
}
}
//++++++++++++COM1处理任务++++++++++++++++++++++++++
static void Task_Com1(void *p_arg)
{
INT8U err;
INT8U *s;
INT8U i;
INT8U flag=0;
static unsigned long d=0;
static unsigned int freq_tmp=0;
static unsigned int freq_tmp1=0;
INT8U ADD_x=FREQ_LCD_ADD_X;
s=OSMboxPend(Com1_MBOX,0,&err);
//Init_AD9850();
(void)p_arg;
while(1)
{
//USART_OUT(USART1,"Task_Com1\r\n");
if(*s=='L')
{
for(i=1;i<50;i++)
{
if(*(s+i)!='F')
{
d=d*10+(*(s+i)-0x30);
}
else
{
//AD9850_Write_Serial(d,0,0);
//KEY_FLAG=0;
//Freq_SET=d;
//if(d/1000000>0)
//{
freq_tmp=d/1000000;
if(freq_tmp>0)flag=1;
if(flag==1)
{
USART_OUT(USART1,"USART is %d",freq_tmp);
//TFT_PutChar12x24(ADD_x,FREQ_LCD_ADD_Y,freq_tmp+0x30,0xffff,0x0000);
}
//else GUI_Text12x24(ADD_x,FREQ_LCD_ADD_Y," ",1,0xffff,0x0000);
ADD_x+=12;
freq_tmp=d%1000000/1000;
freq_tmp1=(freq_tmp)/100;
if(freq_tmp1>0)flag=1;
if(flag==1)
{
//USART_OUT(USART1,"%d",freq_tmp1);
//TFT_PutChar12x24(ADD_x,FREQ_LCD_ADD_Y,freq_tmp1+0x30,0xffff,0x0000);
}
//else GUI_Text12x24(ADD_x,FREQ_LCD_ADD_Y," ",1,0xffff,0x0000);
ADD_x+=12;
freq_tmp1=(freq_tmp%100)/10;
if(freq_tmp1>0)flag=1;
if(flag==1)
{
USART_OUT(USART1,"%d",freq_tmp1);
//TFT_PutChar12x24(ADD_x,FREQ_LCD_ADD_Y,freq_tmp1+0x30,0xffff,0x0000);
}
//else GUI_Text12x24(ADD_x,FREQ_LCD_ADD_Y," ",1,0xffff,0x0000);
ADD_x+=12;
freq_tmp1=(freq_tmp%100)%10;
if(freq_tmp1>0)flag=1;
if(flag==1)
{
USART_OUT(USART1,"%d",freq_tmp1);
//TFT_PutChar12x24(ADD_x,FREQ_LCD_ADD_Y,freq_tmp1+0x30,0xffff,0x0000);
}
//else GUI_Text12x24(ADD_x,FREQ_LCD_ADD_Y," ",1,0xffff,0x0000);
ADD_x+=12;
freq_tmp=d%1000;
freq_tmp1=(freq_tmp)/100;
if(freq_tmp1>0)flag=1;
if(flag==1)
{
USART_OUT(USART1,"%d",freq_tmp1);
//TFT_PutChar12x24(ADD_x,FREQ_LCD_ADD_Y,freq_tmp1+0x30,0xffff,0x0000);
}
//else GUI_Text12x24(ADD_x,FREQ_LCD_ADD_Y," ",1,0xffff,0x0000);
ADD_x+=12;
freq_tmp1=(freq_tmp%100)/10;
if(freq_tmp1>0)flag=1;
if(flag==1)
{
USART_OUT(USART1,"%d",freq_tmp1);
//TFT_PutChar12x24(ADD_x,FREQ_LCD_ADD_Y,freq_tmp1+0x30,0xffff,0x0000);
}
//else GUI_Text12x24(ADD_x,FREQ_LCD_ADD_Y," ",1,0xffff,0x0000);
ADD_x+=12;
freq_tmp1=(freq_tmp%100)%10;
if(freq_tmp1>0)flag=1;
if(flag==1)
{
USART_OUT(USART1,"%dHz\r\n",freq_tmp1);
//TFT_PutChar12x24(ADD_x,FREQ_LCD_ADD_Y,freq_tmp1+0x30,0xffff,0x0000);
}
//else GUI_Text12x24(ADD_x,FREQ_LCD_ADD_Y," ",1,0xffff,0x0000);
ADD_x+=12;
//GUI_Text12x24(ADD_x,FREQ_LCD_ADD_Y,"Hz",2,0xffff,0x0000);
//}
//TFT_PutChar12x24(00,200-24,tmp+0x30,0xffff,0x0000);
//GUI_Text12x24(48,200-24,"KHz",3,0xffff,0x0000);
// Select_DA();
// SPI_SendData(d<<6);
// NotSelect_DA();
break;
}
}
*s=0;
d=0;
ADD_x=FREQ_LCD_ADD_X;
flag=0;
OSMboxPost(Com1_MBOX,(void *)&s);
}
OSTimeDlyHMSM(0, 0, 0, 200);
}
}
void ControlTask(void* pdata)
{
INT8U err, err_tmr_2, err_tmr_start, err_sem;
INT8U throttle = 0; /* Value between 0 and 80, which is interpreted as between 0.0V and 8.0V */
void* msg;
INT16S* current_velocity, diff_velocity;
Sem_ControlTask = OSSemCreate(0);
printf("Control Task created!\n");
SWTimer_ControlTask = OSTmrCreate(0, CONTROL_PERIOD, OS_TMR_OPT_PERIODIC , Tmr_Callback_Control_Task, (void *)0,"S/W Timer 1",&err_tmr_2);
if(err_tmr_2 == OS_ERR_NONE){
if(DEBUG)
printf("Timer for CONTROL TASK is created and Started\n");
OSTmrStart(SWTimer_ControlTask, &err_tmr_start);
}
else {
printf("Error while creating control task timer \n");
if(err_tmr_2 == OS_ERR_TMR_NON_AVAIL)
printf(" OS_ERR_TMR_NON_AVAIL : CONTROL TASK \n");
}
while(1)
{
if(DEBUG)
printf("Control task waiting for MBoxPost_Velocity \n\n");
msg = OSMboxPend(Mbox_Velocity, 0, &err);
current_velocity = (INT16S*) msg;
// Set throttle value if gas pedal is pressed
if((gas_pedal == on) && (engine == on)){
throttle = throttle + 10;
if(throttle > 80)
throttle = 80; // Max value of throttle 0 - 80
if(DEBUG_IO)
printf("********** Acclerate Gas_Pedal : %d **********\n", throttle);
}
else {
throttle = 0;
}
if(engine == off){
throttle = 0;
}
// Check for cruise control
if((cruise_control == on) && (engine == on)){
if(REF_VELOCITY == 0)
REF_VELOCITY = *current_velocity;
if(DEBUG_IO)
printf("********** Cruise control Active ********** REF : %d \n",REF_VELOCITY);
show_target_velocity((INT8U) (REF_VELOCITY/10));
if(*current_velocity > REF_VELOCITY){ // Decrease throttle value
diff_velocity = *current_velocity - REF_VELOCITY;
if(diff_velocity > 15){
throttle = 0;
}
else if(diff_velocity > 10){
throttle = throttle - 30;
}
else {
throttle = throttle - 10;
}
if(throttle <= 0) // Throttle 0-80
throttle = 0;
if(DEBUG_IO)
printf("DEC throttle : %d \n", throttle);
}
else {
diff_velocity = REF_VELOCITY - *current_velocity;
if(diff_velocity > 15){
throttle = 80;
}
else if (diff_velocity > 10){
throttle = throttle + 30;
}
else {
throttle = throttle + 10;
}
if(throttle >= 80)
throttle = 80;
if(DEBUG_IO)
printf("INC throttle : %d \n", throttle);
}
}
else {
//cruise_control = off;
REF_VELOCITY = 0;
IOWR_ALTERA_AVALON_PIO_DATA(DE2_PIO_HEX_HIGH28_BASE,0x0000);
}
err = OSMboxPost(Mbox_Throttle, (void *) &throttle);
if(DEBUG)
printf("MBoxPost_Throttle done by CONTROL TASK \n");
if(DEBUG)
printf("SEM ACCESS CONTROL TASK\n\n");
OSSemPend(Sem_ControlTask, 0, &err_sem);
if(DEBUG)
printf("Control Task in Loop\n");
}
}
void App_TaskUserIF (void *p_arg)
{
CPU_INT32U *msg;
CPU_INT08U err;
CPU_INT32U key_state;
CPU_INT08U ruler_id;
(void)p_arg;
OSTimeDly(500); //wait for other tasks be ready , and time for power stable for ruler
Head_Info(); //Send header
Ruler_Power_Switch(1);
Init_Global_Var();
AB_POST();
#ifndef BOARD_TYPE_AB01
APP_TRACE_INFO_T(("WARNING: NOT AB01, NO MCU CRT UART SWITCH\r\n"));
#endif
while ( DEF_TRUE ) { /* Task body, always written as an infinite loop. */
msg = (CPU_INT32U *)(OSMboxPend(App_UserIF_Mbox, 0, &err)); //pending, no timeout
if (msg != NULL) {
key_state = *msg ;
APP_TRACE_INFO(("\r\n"));
switch( key_state & MSG_TYPE_MASK ) {
case MSG_TYPE_RESET : //reset send msg
//PDM_Pattern_Gen(0); //gen cp2240 pattern
Head_Info();
break;
case MSG_TYPE_SWITCH ://Switch
APP_TRACE_INFO_T(("Switch status updated: SW[1..0] = [%d, %d]\r\n",\
(key_state>>0)&(0x01),(key_state>>1)&(0x01) ));
/**********************************************************************/
//To do something to do with Switch selection...
// Switch 'SW0' used to control DEBUG port:
// 0: ON : UART1 used as debug port
// 1: OFF: DBG UART used as debug port
if( (key_state>>(8 + 1)) & 0x01) { //check if SW0 switch status changed
OSTaskDel( APP_CFG_TASK_SHELL_PRIO );
OSSemSet (Bsp_Ser_Tx_Sem_lock, 1, &err) ;
OSSemSet (Bsp_Ser_Rx_Sem_lock, 1, &err) ;
Task_ReCreate_Shell();
if( ((key_state>>1)& 0x01 ) == 0 ) { //debug to UART1
Debug_COM_Sel = 1 ;
BSP_Ser_Init(115200);
} else { //debug to DBG_UART
Debug_COM_Sel = 0 ;
UART_Init(PC_UART, ISR_PC_UART, 115200 ); //To PC ? Sem recreat issue
}
}
// // Switch 'SW1' used to control Buzzer mute:
// // 0: ON : Buzzer muted
// // 1: OFF: Buzzer unmuted
// if( (key_state>>(8 + 0)) & 0x01) { //check if SW1 switch status changed
// if( ((key_state>>0)& 0x01 ) == 0 ) {
// BUZZER_MUTE = 1; //mute buzzer
// } else {
// BUZZER_MUTE = 0; //unmute buzzer
// }
// }
// Switch 'SW1' used to control CODEC LOUT PGA Gain:
// 0: ON : 24dB attenuated signal for Phone MIC input
// 1: OFF: Normal signal for ACQUA
if( (key_state>>(8 + 0)) & 0x01) { //check if SW1 switch status changed
if( ((key_state>>0)& 0x01 ) == 0 ) {
err = CODEC_LOUT_Small_Gain_En( true ) ; //enable 24dB attenuated signal for Phone Mic
} else {
err = CODEC_LOUT_Small_Gain_En( false ) ; //normal signal, no attenuation
}
if( OS_ERR_NONE != err ) {
APP_TRACE_INFO_T(("ERR: Set CODEC_LOUT_Small_Gain_En err! [%d]\r\n",err));
}
}
break;
case MSG_TYPE_PORT_DET :
if( port_enable == false ) {
//APP_TRACE_INFO(("Ruler port disabled !\r\n"));
break;
}
APP_TRACE_INFO_T(("Ruler port status changed: Port[3..0] = [%1d%1d%1d%1d] ",\
(key_state>>0)&(0x01),(key_state>>1)&(0x01),(key_state>>2)&(0x01),(key_state>>3)&(0x01) ));
for( ruler_id = 0 ; ruler_id < 4 ; ruler_id++ ) {
if( (key_state>>( 8 + 3 - ruler_id)) & 0x01) { //check if Ruler Port[0] switch status changed
if( ( (key_state>>(3 - ruler_id)) & 0x01 ) == 0 ) { // ruler attached, setup ruler
//LED_Set( LED_P0 + ruler_id );
APP_TRACE_INFO_T(("Ruler[%d] Attached.\r\n", ruler_id ));
Global_Ruler_State[ruler_id] = RULER_STATE_ATTACHED;
err = Init_Ruler( ruler_id );
if( OS_ERR_NONE != err ) {
//LED_Clear( LED_P0 + ruler_id );
continue;
}
err = Setup_Ruler( ruler_id );
if( OS_ERR_NONE != err ) {
//LED_Clear( LED_P0 + ruler_id );
continue;
}
//// err = Ruler_Setup_Sync( ruler_id );
//// if( OS_ERR_NONE != err ) {
//// //LED_Clear( LED_P0 + ruler_id );
//// continue;
//// }
err = Get_Ruler_Type( ruler_id );
if( OS_ERR_NONE != err ) {
//LED_Clear( LED_P0 + ruler_id );
continue;
}
err = Get_Ruler_Version( ruler_id );
if( OS_ERR_NONE != err ) {
//LED_Clear( LED_P0 + ruler_id );
continue;
}
err = Ruler_POST( ruler_id );
if( OS_ERR_NONE != err ) {
//LED_Clear( LED_P0 + ruler_id );
continue;
}
Global_Ruler_State[ruler_id] = RULER_STATE_CONFIGURED ;
// mic_mask = Global_Mic_Mask[ruler_id];
// err = Update_Mic_Mask( ruler_id, mic_mask );
// if( OS_ERR_NONE != err ) {
// continue;
// }
// if( mic_mask ) {
// Global_Ruler_State[ruler_id]= RULER_STATE_SELECTED;
// }
//OSTimeDly(500);
//simple_test_use();//test for Dr.Yang and use USBApp0815.exe
} else { // ruler detached
//LED_Clear( LED_P0 + ruler_id );
APP_TRACE_INFO_T(("Ruler[%d] Detached.\r\n", ruler_id ));
Global_Ruler_State[ruler_id] = RULER_STATE_DETACHED ;
Global_Ruler_Type[ruler_id] = 0 ;
Global_Mic_Mask[ruler_id] = 0 ;
}
}
}
/* 按键按下，写入EEPROM */
void Task_USART1(void *p_arg)
{
(void)p_arg; //'p_arg'没有用到，防止编译器警告
while(1)
{
unsigned char errkey, err;
// u16 i;
// printf("等待A8");
/* car1经过 */
OSSemPend(key_SEM,0,&errkey);
//将car1数据保存至buffer并串口输出
weight = (char*)OSMboxPend(adc_MBOX,0,&err);
save_in_buffer(car1,*weight);
/* 读写EEPROM */
//将I2c_Buf_Write中顺序递增的数据写入EERPOM中
I2C_EE_BufferWrite((u8 *)sendData, EEP_Firstpage, 256);
OSTimeDlyHMSM(0,0,0,500);
/* car2经过 */
OSSemPend(key_SEM,0,&errkey);
//将car1数据保存至buffer并串口输出
weight = (char*)OSMboxPend(adc_MBOX,0,&err);
save_in_buffer(car2,*weight);
/* 读写EEPROM */
//将I2c_Buf_Write中顺序递增的数据写入EERPOM中
I2C_EE_BufferWrite((u8 *)sendData, EEP_Firstpage, 256);
OSTimeDlyHMSM(0,0,0,500);
/* car3经过 */
OSSemPend(key_SEM,0,&errkey);
//将car1数据保存至buffer并串口输出
weight = (char*)OSMboxPend(adc_MBOX,0,&err);
save_in_buffer(car3,*weight);
/* 读写EEPROM */
//将I2c_Buf_Write中顺序递增的数据写入EERPOM中
I2C_EE_BufferWrite((u8 *)sendData, EEP_Firstpage, 256);
OSTimeDlyHMSM(0,0,0,500);
// printf("\n\r读出eeprom的数据\n\r");
//将EEPROM读出数据顺序保持到I2c_Buf_Read中
// I2C_EE_BufferRead(I2c_Buf_Read, EEP_Firstpage, 256);
//将I2c_Buf_Read中的数据通过串口打印
// for (i=0; i<=50; i++)
// {
// printf("%c", I2c_Buf_Read[i]);
// }
// OSTimeDlyHMSM(0,0,0,500);
}
}
/**
Function Name : Wave_Start_Playing
Engineer : Gustavo Denardin
Date : 16/06/2011
Parameters : Nothing
Returns : Nothing
Notes :
*/
void Wave_Start_Playing(void)
{
WAVE_BUFFER *WaveInfo;
INT8U *Buff8;
INT16S *Buff16;
INT16U size = 0;
INT8U first = 0;
//_DAC1_Enable();
//Sound_AudioAmplifierTurnOn(); //Turn On the Audio Amplifier
OSSemPost(OpenWave);
for(;;)
{
(void)OSMboxPend(SendWaveBuffer,(void **)&WaveInfo,0);
#if (_VOLUME_CONTROL == 1)
if(SetVolumeLevel == 0) //Mute
{
//Sound_AudioAmplifierStandby(); //Standby the Audio Amplifier
}
else
{
//Sound_AudioAmplifierTurnOn(); //Turn On the Audio Amplifier
//Sound_VolumeControl((INT8U)SetVolumeLevel); //Set Volume level
}
#endif
if (first == 0)
{
first = 1;
//Set sample rate: (8kHz, 11.025kHz, 44.1kHz or 48khz)
Wave_SetSampleRate(WaveInfo->SampleRate);
//Enable timer
Timer2Start();
}
if ((WaveInfo->Size) == 0)
{
break;
}
size = WaveInfo->Size;
if (WaveInfo->BitRate == 16)
{
Buff16 = (INT16S*)WaveInfo->Buff;
}
else if (WaveInfo->BitRate == 8)
{
Buff8 = (INT8U*)WaveInfo->Buff;
}
do
{
OSSemPend(Audio,0);
if (WaveInfo->BitRate == 16)
{
if (vol > 0)
{
DAConvert(((ByteSwap(*Buff16)) >> (4 + (10 - vol))) + 2048);
}else
{
DAConvert(0);
}
Buff16++;
if((WaveInfo->NumChannels) == 2)
{
Buff16++; //Pula o pacote do outro canal
size--;
}
}
else if (WaveInfo->BitRate == 8)
void Task_BEEPMAN(void *pdata){
INT8U err;
INT32U Recv = 0;
while(1){
Recv = (INT32U)OSMboxPend(Mbox_BEEPMAN,0,&err);
//S3C_StartPWMBuzzer();
switch (Recv){
case TYPE_BE_BEEP:
S3C_SetPWMBuzzer(34464,0);
S3C_StartPWMBuzzer();
break;
case TYPE_BE_STOP:
S3C_StopPWMBuzzer();
break;
case TYPE_BE_SUCCESS_IN:
S3C_SetPWMBuzzer(190,60);
S3C_StartPWMBuzzer();
delay(3);
S3C_StopPWMBuzzer();
delay(1);
S3C_StartPWMBuzzer();
delay(3);
S3C_StopPWMBuzzer();
break;
case TYPE_BE_SUCCESS_OUT:
S3C_SetPWMBuzzer(270,200);
S3C_StartPWMBuzzer();
delay(15);
S3C_StopPWMBuzzer();
break;
case TYPE_BE_IN:
S3C_SetPWMBuzzer(520,200);
S3C_StartPWMBuzzer();
delay(15);
S3C_SetPWMBuzzer(190,60);
S3C_StartPWMBuzzer();
delay(3);
S3C_StopPWMBuzzer();
delay(1);
S3C_StartPWMBuzzer();
delay(3);
S3C_StopPWMBuzzer();
break;
case TYPE_BE_NOT_IN:
S3C_SetPWMBuzzer(520,200);
S3C_StartPWMBuzzer();
delay(15);
S3C_StopPWMBuzzer();
break;
case TYPE_BE_SPECIAL:
break;
default:
S3C_SetPWMBuzzer(390,80);
S3C_StartPWMBuzzer();
delay(15);
S3C_StopPWMBuzzer();
break;
}
//S3C_StopPWMBuzzer();
}
}
/* ------------------------------------------------------------------------------------------------------
* sockex_nonblocking_connect()
*
* Description : tests socket blocking and nonblocking connect.
*
* Argument(s) : none.
*
*/
void sockex_nonblocking_connect(void *arg)
{
int ret;
struct sockaddr_in addr;
fd_set readset;
fd_set writeset;
fd_set errset;
struct timeval tv;
LWIP_UNUSED_ARG(arg);
memset(&addr, 0, sizeof(addr)); /* set up address to connect to */
addr.sin_len = sizeof(addr);
addr.sin_family = AF_INET;
addr.sin_port = PP_HTONS(SOCK_TARGET_PORT);
addr.sin_addr.s_addr = inet_addr(SOCK_TARGET_HOST);
socket_state = SOCKET_NEW;
for(;;)
{
if(g_bNetStatus == NETS_LOCIP) /* IP is setted.*/
{
switch(socket_state)
{
case SOCKET_NEW:
{
s = lwip_socket(AF_INET, SOCK_STREAM, 0);
socket_state = SOCKET_CON;
break;
}
case SOCKET_CON:
{
unsigned int ip;
ret = lwip_connect(s, (struct sockaddr*)&addr, sizeof(addr));
LWIP_ASSERT("ret == 0", ret == 0);
if(ret < 0)
{
lwip_close(s);
socket_state = SOCKET_NEW;
OSTimeDly(2);
RS232printf("socket connect failed.\n");
break;
}
ip = lwIPLocalIPAddrGet();
NetDisplayIPAddress(ip); /* Socket updata IP address.*/
socket_state = SOCKET_IDIE;
}
case SOCKET_IDIE:
{
INT8U *msg;
INT8U err;
msg = (INT8U *)OSMboxPend(NET_RfMbox, 0, &err); /* Waiting socket writing data.*/
if(err != OS_ERR_NONE)
break;
ret = lwip_write(s, msg, 6);
if(ret < 0)
{
lwip_close(s);
socket_state = SOCKET_CON;
}
}
break;
case SOCKET_CHECK:
// TODO: Check socket connecting.
FD_ZERO(&readset);
FD_SET(s, &readset);
FD_ZERO(&writeset);
FD_SET(s, &writeset);
FD_ZERO(&errset);
FD_SET(s, &errset);
tv.tv_sec = 3;
tv.tv_usec = 0; /* Set time out 3s, 函数立即返回*/
ret = lwip_select(s+1, &readset, &writeset, &errset, &tv);
if(ret == 0)
{
RS232printf("socket check timeout.\n");
lwip_close(s);
socket_state = SOCKET_CON; /* Reconnect socket.*/
}
if(FD_ISSET(s, &writeset) == 0) /* If socket couldn't write.*/
{
RS232printf("socket write test error.\n");
lwip_close(s);
socket_state = SOCKET_CON; /* Reconnect socket.*/
}
ret = lwip_write(s, "test", 6);
if(ret < 0)
{
lwip_close(s);
socket_state = SOCKET_CON;
}
OSTimeDly(2000);
break;
default:
break;
}
}
OSTimeDly(2);
}
}
void TaskAuto (void *pdata)
{
//static struct Pointfp64 position;
//static fp64 angle;
uint8 err;
uint8 *msg;
pdata=pdata;
for(;;)
{
msg = OSMboxPend(AutoMbox,0,&err);
switch (msg[0])
{
case 1:
LCD_Clear();
GPS_Clear();
RouteForm=RouteStop;
PID_Clear();
GoRoute1();
case 2:
PID_Clear();
GoRoute2();
break;
case 3:
PID_Clear();
GoRoute3();
case 4:
PID_Clear();
GoRoute4();
case 5:
PID_Clear();
GoRoute5();
case 6:
rGPJDAT&=~0x1000; //¹Ø·äÃùÆ÷
LCD_Clear();
PID_Clear();
//GoRoute6();
Route_Num=6;
SetKeep(PointRoute[Route[6]].position,0.0);
while(RouteFinish)
{
if(((Fp64Abs(Aim_Angle-Gps_List[0].angle)<1)&&
(Getlength(AimPoint,Gps_List[0].position)<10))||(Route_Num==7))
{
RouteFinish=0;
RouteForm=RouteStop;
LCD_SetXY(0,2);
LCD_WriteString("route6 done");
}
OSTimeDly(1);
}
break;
case 7:
GPS_Init(PointRoute[Route[6]].position,0.0);
LCD_Clear();
PID_Clear();
GoRoute7();
break;
case 8:
GPS_Init(PointRoute[Route[7]+1].position,Gps_List[0].angle);
LCD_Clear();
PID_Clear();
GoRoute8();
Shootest();
break;
default:;
break;
}
OSTimeDly(1);
}
}
