// The DiceDriver module needs to be able to tell us what is happening. The most
// important information is the request for a change of clock rate or source.
// The eDDR_MSG_CLOCK_CHG is the only one we are required to handle.
// The other messages are used to show the connection status on some LED's,
// and those are of course application dependent.
static HRESULT myDiceDriverCallBack (DICE_DRIVER_MSG_ENUM msg, DICE_DRIVER_CB_DATA * pData)
{
// why did the driver call us?
switch (msg)
{
case eDDR_MSG_CLOCK_CHG:
// The computer has requested a change of clock and source
//SYS_TRACE1(SYSDEBUG_TRACE_GENERAL, pData->rate);
myAppChangeSR(pData);
break;
case eDDR_MSG_ATTACH:
// The computer attached itself to this device
// this typically happens after the computer boots, but also after
// bus resets or the first time the driver is installed
// In this application we don't care
//SYS_TRACE1(SYSDEBUG_TRACE_GENERAL, 0);
break;
case eDDR_MSG_DETACH:
// The computer detached itself from this device
// this typically happens when the computer shuts down
// or at a bus reset.
// In this application we don't care
//SYS_TRACE1(SYSDEBUG_TRACE_GENERAL, 0);
break;
case eDDR_MSG_ENABLE:
// The computer has enabled streaming
//SYS_TRACE1(SYSDEBUG_TRACE_GENERAL, 0);
driverAttached = true;
updateStatusLEDs();
break;
case eDDR_MSG_DISABLE:
// The computer has disabled streaming
//SYS_TRACE1(SYSDEBUG_TRACE_GENERAL, 0);
driverAttached = false;
updateStatusLEDs();
break;
case eDDR_MSG_AC3_CHG:
//AC3 flags for one of the transmitter or receiver has changed
sysDebugPrintf("AC3 Enable Change\r\n");
sysDebugPrintf("Stream0: 0x%04x\r\nStream1: 0x%04x\r\n", diceDriverGetState()->RxParameters.IsocReceiver[0].AC3Enable,
diceDriverGetState()->RxParameters.IsocReceiver[1].AC3Enable);
break;
}
return NO_ERROR;
}
int main(void) {
initRobotBase();
setLEDs(0b111111);
mSleep(1500);
setLEDs(0b000000);
// Set Bumpers state changed event handler:
BUMPERS_setStateChangedHandler(bumpersStateChanged);
powerON(); // Turn Encoders, Motor Current Sensors
// ATTENTION: Automatic Motor control will not work without this!
/* RP6 SAGAN GENERATED COMMANDS START */
/*{SAGAN1_COMMANDS_HERE}*/
/* RP6 SAGAN GENERATED COMMANDS STOP */
stop();
moveAtSpeed(0, 0);
BUMPERS_setStateChangedHandler(BUMPERS_stateChanged_empty);
setLEDs(0b000000);
while (true) {
statusLEDs.LED2 = !statusLEDs.LED2; // Toggle LED bit in LED shadow register...
statusLEDs.LED5 = !statusLEDs.LED5;
updateStatusLEDs();
mSleep(500);
task_RP6System();
}
return 0;
}
/**
* Here we react on any obstacle that we may hit.
* If any of the bumpers detects an obstacle, we stop the motors and start
* LED blink.
*/
void bumpersStateChanged(void) {
if (bumper_left || bumper_right) {
stop();
moveAtSpeed(0, 0); // stop moving!
setLEDs(0b111111);
updateStatusLEDs();
mSleep(500);
while (true) {
statusLEDs.LED2 = !statusLEDs.LED2; // Toggle LED bit in LED shadow register...
statusLEDs.LED5 = !statusLEDs.LED5;
updateStatusLEDs();
mSleep(500);
task_RP6System();
}
}
}
// The actual callback function called by DAL
static HRESULT myDalCallBack (DAL_CB_EVENT_MASK events, DAL_EVENTS * pExtEvents, uint32 data)
{
uint16 aesStatus;
uint32 extStatus=0; //extended status to the driver
DAL_STATUS dalStatus;
// We want to tell the diceDriver about the locked status of the clock domain
// and sample rate etc.
// let's collect AES/ADAT/AVS interface lock status.
// We pass this on to the driver. It is not needed for the driver/streaming operation
// but it can be obtained by control panels to provide visual feedback to the user
aesGetStatus (&aesStatus);
if (aesStatus & AES_STAT_LOCK0) extStatus |= DD_EXT_STATUS_AES0_LOCKED;
if (aesStatus & AES_STAT_LOCK1) extStatus |= DD_EXT_STATUS_AES1_LOCKED;
if (aesStatus & AES_STAT_LOCK2) extStatus |= DD_EXT_STATUS_AES2_LOCKED;
if (aesStatus & AES_STAT_LOCK3) extStatus |= DD_EXT_STATUS_AES3_LOCKED;
//let's update the slip information
if (pExtEvents->aes_events & (DAL_CB_AES0_SLIP | DAL_CB_AES0_RPT)) extStatus |= DD_EXT_STATUS_AES0_SLIP;
if (pExtEvents->aes_events & (DAL_CB_AES1_SLIP | DAL_CB_AES1_RPT)) extStatus |= DD_EXT_STATUS_AES1_SLIP;
if (pExtEvents->aes_events & (DAL_CB_AES2_SLIP | DAL_CB_AES2_RPT)) extStatus |= DD_EXT_STATUS_AES2_SLIP;
if (pExtEvents->aes_events & (DAL_CB_AES3_SLIP | DAL_CB_AES3_RPT)) extStatus |= DD_EXT_STATUS_AES3_SLIP;
//let's collect ADAT interface lock status.
if (adatIsLocked()) extStatus |= DD_EXT_STATUS_ADAT_LOCKED;
//let's update the slip information
//if (pExtEvents->adat_events & (DAL_CB_ADAT_SLIP | DAL_CB_ADAT_RPT)) extStatus |= DD_EXT_STATUS_ADAT_SLIP;
//let's collect AVS interface lock status (for debuggin purposes)
if (avsRxIsLocked(AVS_PLUG_ID1)) extStatus |= DD_EXT_STATUS_ARX1_LOCKED;
if (avsRxIsLocked(AVS_PLUG_ID2)) extStatus |= DD_EXT_STATUS_ARX2_LOCKED;
//let's update the slip information
if (pExtEvents->avs_events & (DAL_CB_AVS1_SLIP | DAL_CB_AVS1_RPT)) extStatus |= DD_EXT_STATUS_ARX1_SLIP;
if (pExtEvents->avs_events & (DAL_CB_AVS2_SLIP | DAL_CB_AVS2_RPT)) extStatus |= DD_EXT_STATUS_ARX2_SLIP;
// At last the most important thing, get the "dal" status and call diceDriver
// The diceDriver must know when the device is unlocked and locked so it can perform
// proper synchronization of streams.
dalGetCurrentStatus (eDAL_INTERFACE_1, &dalStatus);
diceDriverSetStatus (dalStatus.state == eDAL_STATE_LOCKED,
dalStatus.lockedNominalRate,
dalStatus.lockedRateHz, extStatus);
// And make sure the codecs gets updated, see function defined above.
updateCodec(&dalStatus);
// Now some application specific stuff, we do the LED's
updateStatusLEDs();
return NO_ERROR;
}
// updateCodec is called whenever DAL tells us that things have changed.
// The function checks if any important stuff changed such as the rateMode
// or the locked state.
// We also handle some appliction specific LED stuff here.
static void updateCodec(DAL_STATUS * pStatus)
{
if (((pStatus->state == eDAL_STATE_LOCKED) && !isLocked) || ((pStatus->state == eDAL_STATE_LOCKED) && (pStatus->lockedRateMode != lastLockedMode)))
{
//So either we became locked, or we slid into a new rate mode, in all cases
//the codec/ADC/DAC should be told.
//Call the codec function for the selected mode
pCurrentMode->fMsg(MM_GOT_LOCK,pStatus->lockedRateMode,0);
isLocked = true;
lastLockedMode = pStatus->lockedRateMode;
updateStatusLEDs();
}
else if ((pStatus->state != eDAL_STATE_LOCKED) && isLocked)
{
//we just lost lock
//Call the codec function for the selected mode
pCurrentMode->fMsg(MM_LOST_LOCK,0,0);
isLocked = false;
updateStatusLEDs();
}
}
HRESULT myAppSetLEDMode (bool mode)
{
LEDmode = mode;
updateStatusLEDs();
return NO_ERROR;
}
