void APL_TaskHandler(void)
{
static int init_done = 0;
if(init_done == 0)
{
/* Init Led */
init_led();
/* Init Serial Interface for debug */
initSerialInterface();
DDRD = 0x0F;
PORTD = 0x0F;
bouttonsTimer.interval = 400L;
bouttonsTimer.mode = TIMER_REPEAT_MODE;
bouttonsTimer.callback = bouttons_task;
HAL_StartAppTimer(&bouttonsTimer);
init_done = 1;
uprintf("test_bouttons : init done\r\n");
}
SYS_PostTask(APL_TASK_ID);
}
/* This function starts the calibration task */
void calibration_start_manual_task(void)
{
calibrationTimer.interval = CALIBRATION_MANUAL_PERIOD;
calibrationTimer.mode = TIMER_REPEAT_MODE;
calibrationTimer.callback = calibration_manual_task;
HAL_StartAppTimer(&calibrationTimer);
}
/* This function start the codewheel timer task */
void start_codewheel_timer_task(void)
{
codewheel.time = 0;
codewheelTimer.interval = CODEWHEEL_TIMER_TASK_PERIOD;
codewheelTimer.mode = TIMER_REPEAT_MODE;
codewheelTimer.callback = codewheel_timer_task;
HAL_StartAppTimer(&codewheelTimer);
}
/* This function restarts the calibration task changing its frequency */
void calibration_change_task_frequency(uint32_t frequency)
{
HAL_StopAppTimer(&calibrationTimer);
calibrationTimer.interval = frequency;
calibrationTimer.mode = TIMER_REPEAT_MODE;
calibrationTimer.callback = calibration_task;
HAL_StartAppTimer(&calibrationTimer);
}
/* This function starts the calibration task */
void calibration_start_task(void)
{
calibration.state = CALIBRATION_INIT;
calibrationTimer.interval = CALIBRATION_FAST_TASK_PERIOD;
calibrationTimer.mode = TIMER_REPEAT_MODE;
calibrationTimer.callback = calibration_task;
calibration_init_structure();
servo_structure_init();
motor_start();
HAL_StartAppTimer(&calibrationTimer);
}
/**************************************************************************//**
\brief Router application subtask handler.
\param None.
\return None.
******************************************************************************/
static void appRouterTaskHandler(void)
{
switch (appDeviceState)
{
case READING_SENSORS_STATE:
{
appNwkInfo.parentShortAddr = NWK_GetNextHop(0x0000);
appReadLqiRssi();
appStartSensorManager();
appDeviceState = WAITING_DEVICE_STATE; // need to put here in a case if run context isn't broken
appGetSensorData(appSensorsGot);
}
break;
case SENDING_DEVICE_STATE:
{
AppCommand_t *pCommand = NULL;
if (appCreateCommand(&pCommand))
{
pCommand->id = APP_NETWORK_INFO_COMMAND_ID;
memcpy(&pCommand->payload.nwkInfo, &appNwkInfo, sizeof(AppNwkInfoCmdPayload_t));
}
appDeviceState = STARTING_TIMER_STATE;
appPostSubTaskTask();
}
break;
case STARTING_TIMER_STATE:
{
HAL_StartAppTimer(&deviceTimer);
appDeviceState = WAITING_DEVICE_STATE;
}
break;
case INITIAL_DEVICE_STATE:
{
HAL_StopAppTimer(&deviceTimer); // Have to be stopped before start
deviceTimer.interval = APP_TIMER_SENDING_PERIOD;
deviceTimer.mode = TIMER_ONE_SHOT_MODE;
deviceTimer.callback = deviceTimerFired;
appDeviceState = READING_SENSORS_STATE;
appPostSubTaskTask();
}
break;
default:
break;
}
}
/* This function starts the debug task */
void debug_start_stop_task(void)
{
static bool debug_task_running = 0;
if(debug_task_running == 0)
{
debugTimer.interval = DEBUG_TASK_PERIOD;
debugTimer.mode = TIMER_REPEAT_MODE;
debugTimer.callback = debug_task;
HAL_StartAppTimer(&debugTimer);
debug_task_running = 1;
}
else
{
HAL_StopAppTimer(&debugTimer);
debug_task_running = 0;
}
}
