void change_speed (void) {
if ((AT91F_PIO_GetInput(AT91C_BASE_PIOA) & SW1_MASK) == 0) {
if (LEDSpeed > SPEED) LEDSpeed -= SPEED;
}
if ((AT91F_PIO_GetInput(AT91C_BASE_PIOA) & SW2_MASK) == 0) {
if (LEDSpeed < MCK) LEDSpeed += SPEED;
}
}
//*--------------------------------------------------------------------------------------
//* Function Name : change_speed
//* Object : Adjust "LedSpeed" value depending on SW1 and SW2 are pressed or not
//* Input Parameters : none
//* Output Parameters : Update of LedSpeed value.
//*--------------------------------------------------------------------------------------
static void change_speed ( void )
{//* Begin
if ( (AT91F_PIO_GetInput(AT91C_BASE_PIOA) & SW1_MASK) == 0 )
{
if ( LedSpeed > SPEED ) LedSpeed -=SPEED ;
}
if ( (AT91F_PIO_GetInput(AT91C_BASE_PIOA) & SW2_MASK) == 0 )
{
if ( LedSpeed < MCK ) LedSpeed +=SPEED ;
}
}//* End
void change_speed(void) {
if ( (AT91F_PIO_GetInput(AT91C_BASE_PIOA) & SW1_MASK) == 0 ) {
if ( LedSpeed > SPEED ) {
LedSpeed -= SPEED ;
}
}
if ( (AT91F_PIO_GetInput(AT91C_BASE_PIOA) & SW3_MASK) == 0 ) {
if ( LedSpeed < MCK ) {
LedSpeed += SPEED ;
}
}
}
////////////////////////////////////////////////////////////////////////////////
// Odebranie 8 bit�w danych z kamery
////////////////////////////////////////////////////////////////////////////////
inline char CamRead(void) {
register char data = 0;
data = (AT91F_PIO_GetInput(AT91C_BASE_PIOA) & (CAM_D2 | CAM_D3 | CAM_D4
| CAM_D5 | CAM_D6 | CAM_D7)) >> 14;
if (AT91F_PIO_GetInput(AT91C_BASE_PIOA) & CAM_D0) {
data += 1;
}
if (AT91F_PIO_GetInput(AT91C_BASE_PIOA) & CAM_D1) {
data += 2;
}
return data;
}
unsigned char recvBeacon( ob_data* block ) {
unsigned long crc;
unsigned char ret=0, status;
ob_switchRXMode();
if((AT91F_PIO_GetInput(AT91C_BASE_PIOA)&IRQ_PIN)==0)
{
portENTER_CRITICAL();
status=nRFAPI_GetStatus();
if(status&MASK_RX_DR_FLAG ) {
ret=nRFAPI_RX((unsigned char*)block, sizeof(ob_data) );
if(ret>0) {
// CRC Check
crc = env_crc16(block->payload, sizeof(block->payload) );
if(block->crc == swapshort(crc)) {
increment(ob_int_mgmt.rx_beacons, 4);
} else {
increment(ob_int_mgmt.fail_rx_beacons, 4);
ret=0;
}
}
nRFAPI_FlushRX();
}
nRFAPI_ClearIRQ(status);
portEXIT_CRITICAL ();
}
return ret;
}
////////////////////////////////////////////////////////////////////////////////
// Odebranie ramki obrazu z kamery // po optymalizacji //
// podzielnik = 2 -> klatka 320 x 200
// podzielnik = 4 -> klatka 160 x 100
////////////////////////////////////////////////////////////////////////////////
void GetFrame(register char PodzielnikX, register char PodzielnikY,
char transmit) {
register unsigned int x = 0, y = 0, wsk = 0;
register char x2 = 0, y2 = 0, CamClockEnable = 0;
// 1-sza klatka do odrzutu
CamClockEnable = 1;
AT91F_PIO_ClearOutput(AT91C_BASE_PIOA, DIODA2);
while (AT91F_PIO_GetInput(AT91C_BASE_PIOA) & VSYNC) {
AT91F_PIO_ClearOutput(AT91C_BASE_PIOA, MCLK);
AT91F_PIO_SetOutput(AT91C_BASE_PIOA, MCLK);
}
// printf("-- Poza petla --\n\r");
AT91F_PIO_SetOutput(AT91C_BASE_PIOA, DIODA2);
CamClockEnable = 1;
wsk = 0;
register int pclkJump;
register int enter = 0;
// 2-ga klatka dobra
AT91C_BASE_PIOA->PIO_CODR = DIODA1;
while (CamClockEnable) {
for (pclkJump = 0; pclkJump < PodzielnikX; pclkJump++) {
AT91C_BASE_PIOA->PIO_CODR = MCLK;
AT91C_BASE_PIOA->PIO_SODR = MCLK;
// AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, MCLK );
// AT91F_PIO_SetOutput( AT91C_BASE_PIOA, MCLK );
}
// VSYNC = 1 (podczas aktywnej czesci klatki)
if (AT91C_BASE_PIOA->PIO_PDSR & VSYNC) {
// AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, DIODA1 );
// HSYNC = 1 (podczas aktywnej czesci linii)
if (AT91C_BASE_PIOA->PIO_PDSR & HSYNC) {
enter = 1;
if (PodzielnikX < 8) {
if (x < (640. / PodzielnikX) && y < (400. / PodzielnikY)) {
// printf(".");
x++;
mem[wsk] = (AT91C_BASE_PIOA->PIO_PDSR & (CAM_D2
| CAM_D3 | CAM_D4 | CAM_D5 | CAM_D6 | CAM_D7))
>> 14;
if (AT91C_BASE_PIOA->PIO_PDSR & CAM_D0) {
mem[wsk] += 1;
}
if (AT91C_BASE_PIOA->PIO_PDSR & CAM_D1) {
mem[wsk] += 2;
}
wsk++;
} else if (y >= 400 / PodzielnikY)
CamClockEnable = 0;
if (CamClockEnable == 1) {
CamClockEnable = 2;
}
} else {
if (x < 1280 && y < 800) {
void nRFCMD_ISR_ACK_Handler(void)
{
portBASE_TYPE xTaskWokenACK = pdFALSE;
if( (AT91C_BASE_PIOA->PIO_ISR & IRQ_PIN) && ((AT91F_PIO_GetInput(AT91C_BASE_PIOA)&IRQ_PIN)==0) )
xTaskWokenACK = xSemaphoreGiveFromISR( xnRF_SemaphoreACK, &xTaskWokenACK );
AT91C_BASE_AIC->AIC_EOICR = 0;
if(xTaskWokenACK)
portYIELD_FROM_ISR();
}
void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{
if( uxLED < ( portBASE_TYPE ) NB_LED )
{
if( AT91F_PIO_GetInput( AT91C_BASE_PIOB ) & ulLED_MASK[ uxLED ] )
{
AT91F_PIO_ClearOutput( AT91C_BASE_PIOB, ulLED_MASK[ uxLED ]);
}
else
{
AT91F_PIO_SetOutput( AT91C_BASE_PIOB, ulLED_MASK[ uxLED ] );
}
}
}
void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{
if( uxLED < ( portBASE_TYPE ) NB_LED )
{
if( AT91F_PIO_GetInput( AT91C_BASE_PIOA ) & led_mask[ uxLED ] )
{
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, led_mask[ uxLED ]);
}
else
{
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, led_mask[ uxLED ] );
}
}
}
unsigned int GPIO_device_get(unsigned int port)
{
unsigned int gpioStates = AT91F_PIO_GetInput(AT91C_BASE_PIOA);
int value = 0;
switch (port) {
case 0:
value = ((gpioStates & GPIO_1) != 0);
break;
case 1:
value = ((gpioStates & GPIO_2) != 0);
break;
case 2:
value = ((gpioStates & GPIO_3) != 0);
break;
default:
break;
}
return value;
}
//*----------------------------------------------------------------------------
//* Function Name : timer0_c_irq_handler
//* Object : C handler interrupt function called by the interrupts
//* assembling routine
//* Output Parameters : increment count_timer0_interrupt
//*----------------------------------------------------------------------------
void timer0_c_irq_handler(void)
{
AT91PS_TC TC_pt = AT91C_BASE_TC0;
unsigned int dummy;
//* Acknowledge interrupt status
dummy = TC_pt->TC_SR;
//* Suppress warning variable "dummy" was set but never used
dummy = dummy;
count_timer0_interrupt++;
//* Read the output state
if ( (AT91F_PIO_GetInput(AT91C_BASE_PIOA) & LED3 ) == LED3 )
{
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, LED3 );
}
else
{
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED3 );
}
}
unsigned char nRFLL_ReadWrite(unsigned char byte)
{
int bit;
for(bit=0;bit<8;bit++)
{
if(byte & 0x80)
AT91F_PIO_SetOutput(AT91C_BASE_PIOA,MOSI_PIN);
else
AT91F_PIO_ClearOutput(AT91C_BASE_PIOA,MOSI_PIN);
AT91F_PIO_SetOutput(AT91C_BASE_PIOA,SCK_PIN);
byte<<=1;
if(AT91F_PIO_GetInput(AT91C_BASE_PIOA)&MISO_PIN)
byte|=1;
AT91F_PIO_ClearOutput(AT91C_BASE_PIOA,SCK_PIN);
}
AT91F_PIO_ClearOutput(AT91C_BASE_PIOA,MOSI_PIN);
return byte;
}
int sdpin_write_protect(void)
{
return ( AT91F_PIO_GetInput(AT91C_BASE_PIOA) & SD_SOCKET_WP ) == SD_SOCKET_WP;
}
int sdpin_no_card(void)
{
return ( AT91F_PIO_GetInput(AT91C_BASE_PIOA) & SD_SOCKET_INS ) == SD_SOCKET_INS;
}
static unsigned int GetGPIOBits(void)
{
return AT91F_PIO_GetInput(AT91C_BASE_PIOA);
}
static void
vCmdTask (void *pvParameters)
{
(void) pvParameters;
unsigned int t = 0;
portCHAR cByte;
portBASE_TYPE len = 0;
static char next_command[MAX_CMD_LINE_LENGTH];
for (;;)
{
if (vUSBRecvByte (&cByte, 1, 100))
{
vDebugSendHook (cByte);
switch (cByte)
{
case '\n':
case '\r':
if (len)
{
next_command[len] = 0;
vCmdProcess (next_command);
len = 0;
}
break;
default:
next_command[len++] = cByte;
}
}
else if (AT91F_PIO_GetInput (EXT_BUTTON_PIO) & EXT_BUTTON_PIN)
{
if (t < 30)
t++;
else
{
for (t = 0; t < 10; t++)
{
vTaskDelay (500 / portTICK_RATE_MS);
led_set_red (0);
vTaskDelay (500 / portTICK_RATE_MS);
led_set_red (1);
}
/* backup reader id */
t = env.e.reader_id;
vNetworkResetDefaultSettings ();
/* restore reader id */
env.e.reader_id = t;
/* store the configuration */
env_store ();
/* wait a bit before the reset */
debug_printf ("restoring original settings"
" after reset pin triggerd & reboot...\n");
vTaskDelay (1000 / portTICK_RATE_MS);
/*force watchdog reset */
while (1);
}
}
else
t = 0;
}
}
