ER load_application(const void *mod_data, SIZE mod_data_sz) {
ER ercd;
// ev3_led_set_color(LED_GREEN);
// chg_status(STATUS_RUNNING);
#if 0
// Wait for pressing center button
SYSTIM time = 0;
uint32_t ledcolor = 0;
syslog(LOG_NOTICE, "Press center button to run the application.");
while(!global_brick_info.button_pressed[BRICK_BUTTON_ENTER]) {
SYSTIM newtime;
get_tim(&newtime);
if (newtime - time > 500) { // Blink LED
brick_misc_command(MISCCMD_SET_LED, ledcolor);
ledcolor ^= TA_LED_RED | TA_LED_GREEN;
time = newtime;
}
}
while(global_brick_info.button_pressed[BRICK_BUTTON_ENTER]) {
SYSTIM newtime;
get_tim(&newtime);
if (newtime - time > 500) { // Blink LED
brick_misc_command(MISCCMD_SET_LED, ledcolor);
ledcolor ^= TA_LED_RED | TA_LED_GREEN;
time = newtime;
}
}
#endif
brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);
platform_soft_reset();
ercd = dmloader_ins_ldm(mod_data, mod_data_sz, 1);
if (ercd != E_OK) {
syslog(LOG_ERROR, "Failed to load application, ercd: %d", ercd);
} else {
app_loaded = true;
SVC_PERROR(sta_alm(APP_TER_BTN_ALM, 0));
SVC_PERROR(wai_sem(APP_TER_SEM));
syslog(LOG_NOTICE, "Terminate application.");
SVC_PERROR(dmloader_rmv_ldm(1));
brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);
}
// chg_status(STATUS_IDLE);
platform_soft_reset();
tslp_tsk(500);
return ercd;
}
void application_unload() {
ER ercd;
if (app_loaded) {
syslog(LOG_NOTICE, "Terminate application.");
ercd = dmloader_rmv_ldm(1);
assert(ercd == E_OK);
app_loaded = false;
platform_soft_reset();
brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);
}
}
ER load_application(const void *mod_data, SIZE mod_data_sz) {
ER ercd;
platform_soft_reset();
ercd = dmloader_ins_ldm(mod_data, mod_data_sz, 1);
if (ercd == E_OK) {
brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);
app_loaded = true;
} else {
syslog(LOG_ERROR, "Failed to load application, ercd: %d", ercd);
}
return ercd;
}
void ev3_main_task(intptr_t exinf) {
ER_UINT ercd;
// Pause application at first
platform_pause_application(true);
/**
* Initialize FatFS
*/
initialize_fatfs_dri();
/**
* Load configurations
*/
ev3rt_load_configuration();
/**
* Initialize LCD
*/
initialize_lcd_dri();
/**
* Initialize EV3RT console and open its SIO port.
*/
initialize_console_dri();
ercd = serial_opn_por(SIO_PORT_LCD);
if (ercd < 0 && MERCD(ercd) != E_OBJ) {
syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
itron_strerror(ercd), SERCD(ercd));
}
SVC_PERROR(serial_ctl_por(SIO_PORT_LCD, IOCTL_NULL));
platform_pause_application(false);
is_initialized = false;
// syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
/**
* Initialize all drivers
*/
for(uint32_t i = 0; i < tnum_drivers; ++i)
if (drivers[i].init_func != NULL) drivers[i].init_func(0);
platform_soft_reset();
// Banner
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, " _____ ______ ___ ______");
syslog(LOG_NOTICE, " / __/ | / /_ // _ \/_ __/");
syslog(LOG_NOTICE, " / _/ | |/ //_ </ , _/ / /");
syslog(LOG_NOTICE, "/___/ |___/____/_/|_| /_/");
syslog(LOG_NOTICE, "=============================");
syslog(LOG_NOTICE, "Powered by TOPPERS/HRP2 RTOS");
syslog(LOG_NOTICE, "Initialization is completed..");
platform_pause_application(true);
is_initialized = true;
brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);
#if 0 // Legacy code
initialize_analog_dri();
initialize_uart_dri();
initialize_motor_dri();
initialize_sound_dri();
initialize_fatfs_dri();
// initialize_ev3();
// syslog(LOG_ERROR, "TEST ZMODEM");
// uint8_t c;
// while(1) {
// serial_rea_dat(SIO_PORT_UART, &c, 1);
// ER ercd;
// switch (c) {
// case 'r':
// ercd = zmodem_recv_file(app_text_mempool, sizeof(app_text_mempool));
// syslog(LOG_ERROR, "ZMODEM ercd = %d.", ercd);
// break;
// default:
// syslog(LOG_ERROR, "Key %c pressed.", c);
// }
// }
//EV3::ev3 = new EV3::EV3();
//#define TEST_ANALOG_SENSOR
//
//#ifdef TEST_ANALOG_SENSOR
// while(1) {
// /*
// * Debug Analog Port 2
// */
// int sv = analog_get_short(1);
// printk("Sensor PIN1: %d\n", sv);
// printk("Sensor PIN6: %d\n", analog_get_short_pin6(1));
//
// GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14;
// target_fput_log('H');
// target_fput_log('E');
// target_fput_log('R');
// target_fput_log('E');
// target_fput_log('\n');
// tslp_tsk(1000);
// }
//#endif
//#ifdef TEST_UART
// //init_pwm();
// //ev3_motor_set_speed(PortA, 50);
// //tslp_tsk(3000);
// //ev3_motor_brake(PortA, true);
// init_uart();
// while(1) {
// /*
// * Debug UART Port 2
// */
// int sv = uart_get_short(1);
// printk("Sensor value: %d\n", sv);
//
// GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14;
// target_fput_log('H');
// target_fput_log('E');
// target_fput_log('R');
// target_fput_log('E');
// target_fput_log('\n');
// tslp_tsk(1000);
// }
//#endif
#endif
}