/******************************************************************************
* Function: void ProcessIO(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: This function is a place holder for other user routines.
* It is a mixture of both USB and non-USB tasks.
*
* Note: None
*****************************************************************************/
void USBUpdate(void) {
byte data[2];
byte i;
byte paramNum;
ulong tempLong;
USBDeviceTasks();
if ((USBDeviceState < CONFIGURED_STATE) || (USBSuspendControl==1)) {
return;
}
//As the device completes the enumeration process, the USBCBInitEP() function will
//get called. In this function, we initialize the user application endpoints (in this
//example code, the user application makes use of endpoint 1 IN and endpoint 1 OUT).
//The USBGenRead() function call in the USBCBInitEP() function initializes endpoint 1 OUT
//and "arms" it so that it can receive a packet of data from the host. Once the endpoint
//has been armed, the host can then send data to it (assuming some kind of application software
//is running on the host, and the application software tries to send data to the USB device).
//If the host sends a packet of data to the endpoint 1 OUT buffer, the hardware of the SIE will
//automatically receive it and store the data at the memory location pointed to when we called
//USBGenRead(). Additionally, the endpoint handle (in this case USBGenericOutHandle) will indicate
//that the endpoint is no longer busy. At this point, it is safe for this firmware to begin reading
//from the endpoint buffer, and processing the data. In this example, we have implemented a few very
//simple commands. For example, if the host sends a packet of data to the endpoint 1 OUT buffer, with the
//first byte = 0x80, this is being used as a command to indicate that the firmware should "Toggle LED(s)".
if(!USBHandleBusy(USBGenericOutHandle) && //Check if the endpoint has received any data from the host.
//Now check to make sure no previous attempts to send data to the host are still pending. If any attemps are still
//pending, we do not want to write to the endpoint 1 IN buffer again, until the previous transaction is complete.
//Otherwise the unsent data waiting in the buffer will get overwritten and will result in unexpected behavior.
(!USBGenericInHandle || !USBHandleBusy(USBGenericInHandle))) {
if (OUTPacket[USB_PACKET_LEN] < 7) {
// message too short
}
else {
usbActivityTimeout = 3000; // reset timeout (in ms) 3 seconds
switch(OUTPacket[USB_PACKET_CMD]) { //Data arrived, check what kind of command might be in the packet of data.
case USB_CMD_NULL: // 0x00
if (OUTPacket[USB_PACKET_LEN] != 7) {
data[0] = USB_ERR_BAD_LEN;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else {
UsbSendResp(USB_RESP_NULL, data);
}
break;
case USB_CMD_GET_VSTRING:
if (OUTPacket[USB_PACKET_LEN] != 7) {
data[0] = USB_ERR_BAD_LEN;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else {
UsbSendResp(USB_RESP_GET_VSTRING, data);
}
break;
case USB_CMD_GET_CHAN:
if (OUTPacket[USB_PACKET_LEN] != 7) {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else if (OUTPacket[USB_PACKET_STR] >= NUM_STRINGS) {
data[0] = USB_ERR_BAD_PRM;
data[1] = 0;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else if (!OUTPacket[USB_PACKET_MCT] || OUTPacket[USB_PACKET_MCT] > NUM_MCT) {
data[0] = USB_ERR_BAD_PRM;
data[1] = 1;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else {
UsbSendResp(USB_RESP_GET_CHAN, data);
}
break;
case USB_CMD_GET_MIRRORS:
if (OUTPacket[USB_PACKET_LEN] != 7) {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else if (OUTPacket[USB_PACKET_STR] >= NUM_STRINGS) {
data[0] = USB_ERR_BAD_PRM;
data[1] = 0;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else if (!OUTPacket[USB_PACKET_MCT] || OUTPacket[USB_PACKET_MCT] > NUM_MCT) {
data[0] = USB_ERR_BAD_PRM;
data[1] = 1;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else {
UsbSendResp(USB_RESP_GET_MIRRORS, data);
}
break;
case USB_CMD_GET_STRING:
if (OUTPacket[USB_PACKET_LEN] != 7) {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else if (OUTPacket[USB_PACKET_STR] >= NUM_STRINGS) {
data[0] = USB_ERR_BAD_PRM;
data[1] = 0;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
else {
UsbSendResp(USB_RESP_GET_STRING, data);
}
break;
case USB_CMD_FIELD_STATE:
if (OUTPacket[USB_PACKET_LEN] == 7) {
UsbSendResp(USB_RESP_FIELD_STATE, data);
}
else if (OUTPacket[USB_PACKET_LEN] == 8) {
FieldNewState(OUTPacket[USB_PACKET_DATA]);
UsbSendResp(USB_RESP_FIELD_STATE, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_GET_FCE:
if (OUTPacket[USB_PACKET_LEN] == 7) {
UsbSendResp(USB_RESP_GET_FCE, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_GET_RTU:
if (OUTPacket[USB_PACKET_LEN] == 7) {
UsbSendResp(USB_RESP_GET_RTU, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_SEND_MCT485: // 0x64
if (OUTPacket[USB_PACKET_LEN] >= 11
&& OUTPacket[USB_PACKET_LEN] < MCT485_MAX_INDEX + 7) {
//Mct485CannedMsg(MSG_ORIGIN_USB,
// OUTPacket[USB_PACKET_STR],
// OUTPacket[USB_PACKET_LEN]-7,
// &OUTPacket[USB_PACKET_DATA]);
usb485TxString = OUTPacket[USB_PACKET_STR];
usb485TxLen = OUTPacket[USB_PACKET_LEN]-7;
for (i = 0; i < usb485TxLen; i++) {
usb485TxBuffer[i] = OUTPacket[USB_PACKET_DATA+i];
}
// clear 485 response buffer
usb485RxLen = 0;
UsbSendResp(USB_RESP_SEND_MCT485, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_GET_MCT485: // 0x65
if (OUTPacket[USB_PACKET_LEN] == 7) {
UsbSendResp(USB_RESP_GET_MCT485, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_RTC: // 0x66
if (OUTPacket[USB_PACKET_LEN] == 7) {
UsbSendResp(USB_RESP_RTC, data);
}
else if (OUTPacket[USB_PACKET_LEN] == 13) {
RtcSetClock(&OUTPacket[USB_PACKET_DATA]);
UsbSendResp(USB_RESP_RTC, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_LOG: // 0x67
if (OUTPacket[USB_PACKET_LEN] == 7) {
UsbSendResp(USB_RESP_LOG, data);
}
else if (OUTPacket[USB_PACKET_LEN] == 8) {
if (OUTPacket[USB_PACKET_DATA] == 0) {
DataLogFindFirstEntry();
}
else if (OUTPacket[USB_PACKET_DATA] == 0xFF) {
DataLogErase();
}
UsbSendResp(USB_RESP_LOG, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_DESICCANT: // 0x68
if (OUTPacket[USB_PACKET_LEN] == 7) {
UsbSendResp(USB_RESP_DESICCANT, data);
}
else if (OUTPacket[USB_PACKET_LEN] == 9) {
// manual force dessicant to set of outputs or state
DesiccantNewState(OUTPacket[USB_PACKET_DATA], OUTPacket[USB_PACKET_DATA+1]);
UsbSendResp(USB_RESP_DESICCANT, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_SFC_PARAM: // 0x69
if (OUTPacket[USB_PACKET_LEN] == 8) {
UsbSendResp(USB_RESP_SFC_PARAM, data);
}
else if (OUTPacket[USB_PACKET_LEN] > 8 && !(OUTPacket[USB_PACKET_LEN] & 0x03)) {
// process one param at a time, prevents I2C queue entry overflow and avoids
// I2C page boundary problems
paramNum = OUTPacket[USB_PACKET_DATA];
i = USB_PACKET_DATA+1;
while (i < OUTPacket[USB_PACKET_LEN]-2) {
tempLong = OUTPacket[i++];
tempLong *= 256;
tempLong += OUTPacket[i++];
tempLong *= 256;
tempLong += OUTPacket[i++];
tempLong *= 256;
tempLong += OUTPacket[i++];
ParamWrite(paramNum, tempLong);
paramNum++;
}
UsbSendResp(USB_RESP_SFC_PARAM, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_MEMORY: // 0x6A
if (OUTPacket[USB_PACKET_LEN] == 11) {
data[4] = 16;
UsbSendResp(USB_RESP_MEMORY, data);
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
case USB_CMD_TEST: // 0x6B
if (OUTPacket[USB_PACKET_LEN] == 8) {
UsbSendResp(USB_RESP_TEST, data);
for (tempLong = 0; tempLong < 1000000; tempLong++) {
}
if (OUTPacket[USB_PACKET_DATA] == 0x01) {
Mct485Init();
}
else if (OUTPacket[USB_PACKET_DATA] == 0x02) {
StringInit();
}
else if (OUTPacket[USB_PACKET_DATA] == 0x03) {
FieldInit();
}
else if (OUTPacket[USB_PACKET_DATA] == 0x04) {
SoftReset();
}
}
else {
data[0] = USB_ERR_BAD_LEN;
data[1] = 7;
UsbSendResp(USB_RESP_BAD_MSG, data);
}
break;
} // switch (cmd)
} // else process messages
//Re-arm the OUT endpoint for the next packet:
//The USBGenRead() function call "arms" the endpoint (and makes it "busy"). If the endpoint is armed, the SIE will
//automatically accept data from the host, if the host tries to send a packet of data to the endpoint. Once a data
//packet addressed to this endpoint is received from the host, the endpoint will no longer be busy, and the application
//can read the data which will be sitting in the buffer.
USBGenericOutHandle = USBGenRead(USBGEN_EP_NUM,(BYTE*)&OUTPacket,USBGEN_EP_SIZE);
} // if
}// UsbUpdate()
int main(void) {
MainInit();
I2C1init();
RtcInit();
LcdInit();
DataLogInit();
StringInit();
Mct485Init();
FieldInit();
Ads1115Init();
Ads1244Init();
USBInit();
RtuInit();
AdcInit();
TC74Init();
// enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
MainDelay(50);
DataLogDateTime(DLOG_SFC_POWERUP);
// init param after interrupts are enabled
ParamInit();
// wait to init desiccant until after ParamInit
DesiccantInit();
string[0].mct[0].chan[4] = 0x7FFF;
//
// Begin Main Loop
//
for (;;) {
if (test == 1) {
test = 0;
FieldNewState((FIELD_STATE_m)t1);
}
USBUpdate(); // called as often as possible
//sysTickEvent every ms
if (sysTickEvent) {
sysTickEvent = 0;
sysTicks++;
UsbTimeoutUpdate();
LcdUpdate();
// fill time before dropping LCD_E
if (sysTicks >= 1000) {
sysSec++;
sysTicks = 0;
mPORTDToggleBits(PD_LED_HEARTBEAT);
// These Updates are
// called once a second
//TODO if any of these are long, we could split them on separate milliseconds.
DesiccantUpdate();
AdcUpdate();
TC74Update();
}// end 1 Hz
else if (sysTicks == 250) {
mPORTDToggleBits(PD_LED_HEARTBEAT);
}
else if (sysTicks == 500) {
mPORTDToggleBits(PD_LED_HEARTBEAT);
}
else if (sysTicks == 750) {
mPORTDToggleBits(PD_LED_HEARTBEAT);
}
// Complete LcdUpdate() by dropping LCD_E)
PORTClearBits(IOPORT_G, PG_LCD_E);
// These Updates called once each millisecond
RtcUpdate();
I2C1update();
StringUpdate();
Mct485Update();
FieldUpdate();
RtuUpdate();
DessicantFanPWMupdate();
} // if (sysTickEvent)
} // for (;;)
} // main()
task main()
{
SensorsInit();
MechanismInit();
FieldInit();
/*
while ( true )
{
nxtDisplayCenteredTextLine(0, (string)LEFT_LIGHT_SENSOR());
nxtDisplayCenteredTextLine(1, (string)RIGHT_LIGHT_SENSOR());
}
*/
StartTask(log);
Node start = NodeLine3BottomEnd;
Node end = NodeFriendBridgeCenter;
//RobotFindWhiteLine();
//wait10Msec(1000);
///RobotFindWhiteLine();
//RobotFollowWhiteLineForDistance(15, false);
//wait10Msec(1000);
CurrentRobotPosition.orientation = PI / 2.0;
FieldGetNodeLocation(start, CurrentRobotPosition.location);
//wait10Msec(1000);
RobotTravelFromNodeToNode(start, end, false);
//MechanismElevatorSetHeight(8);
//RobotMoveDistance(-20, false);
PlaySound(soundBeepBeep);
wait10Msec(100);
}