int main(void)
{
short bandera = 0; //valores de bandera 0, 1, o 2
ssi_init(); //inicializa codec
for(;;)
{
switch(bandera)
{
case 0 : ptr_buffer = buffer_in0;
break;
case 1 : ptr_buffer = buffer_in1;
break;
case 2 : ptr_buffer = buffer_in2;
break;
default: break;
}
ptr_fin = ptr_buffer + S;
while(ptr_buffer < ptr_fin);
bandera++;
bandera = bandera % 3;
}
}
/*************************************************************************************************
* ethernet_task
*
* Ethernet task, manages the interface, runs only once
*/
static portTASK_FUNCTION( ethernet_task, pvParameters )
{
static const gpio_map_t MACB_GPIO_MAP =
{
{EXTPHY_MACB_MDC_PIN, EXTPHY_MACB_MDC_FUNCTION },
{EXTPHY_MACB_MDIO_PIN, EXTPHY_MACB_MDIO_FUNCTION },
{EXTPHY_MACB_RXD_0_PIN, EXTPHY_MACB_RXD_0_FUNCTION },
{EXTPHY_MACB_TXD_0_PIN, EXTPHY_MACB_TXD_0_FUNCTION },
{EXTPHY_MACB_RXD_1_PIN, EXTPHY_MACB_RXD_1_FUNCTION },
{EXTPHY_MACB_TXD_1_PIN, EXTPHY_MACB_TXD_1_FUNCTION },
{EXTPHY_MACB_TX_EN_PIN, EXTPHY_MACB_TX_EN_FUNCTION },
{EXTPHY_MACB_RX_ER_PIN, EXTPHY_MACB_RX_ER_FUNCTION },
{EXTPHY_MACB_RX_DV_PIN, EXTPHY_MACB_RX_DV_FUNCTION },
{EXTPHY_MACB_TX_CLK_PIN, EXTPHY_MACB_TX_CLK_FUNCTION}
};
gpio_enable_module(MACB_GPIO_MAP, sizeof(MACB_GPIO_MAP) / sizeof(MACB_GPIO_MAP[0]));
ethernet_init_LwIP();
httpd_init();
ssi_init();
/* Kill this task. */
vTaskDelete(NULL);
}
/**
* @brief SSI thread main function
* @param void * arg Thread arguments (NULL)
* @return msg_t Thread messages
*/
msg_t ssi_main(void *arg)
{
ssi_init(); // Initialize SSI Encoder
uint32_t position; // Position buffer
// Thread main loop
systime_t time = chTimeNow();
while(1)
{
time = chTimeNow();
if((ssi_mode == SSI_MODE_STREAM) && (encoder_power_state == ENCODER_ON))
{
time += US2ST(ssi_read_delay);
position = ssi_read(); // Read SSI Encoder
bt_send_position(position); // Send out encoder data via serial
while(!bt_get_tx_state())
{
__asm__("NOP"); // Wait for position send to complete
}
chThdSleepUntil(time);
}
else
{
chThdSleepMilliseconds(500);
}
}
}
