/*
*********************************************************************************************************
* App_TaskStart()
*
* Description : This is an example of a startup task. As mentioned in the book's text, you MUST
* initialize the ticker only once multitasking has started.
*
* Argument(s) : p_arg is the argument passed to 'App_TaskStart()' by 'OSTaskCreateExt()'.
*
* Return(s) : none.
*
* Caller(s) : This is a task.
*
* Notes : (1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*********************************************************************************************************
*/
static void App_TaskStart (void *p_arg)
{
(void)p_arg; /* See Note #1 */
BSP_Init(); /* Initialize BSP functions */
OS_CPU_SysTickInit(); /* Initialize the SysTick */
#if (OS_TASK_STAT_EN > 0)
OSStatInit(); /* Determine CPU capacity */
#endif
MEM_Init();
End_Init();
GUI_Init();
TIME_Init();
MENU_Init();
App_EventCreate(); /* Create application events */
App_TaskCreate(); /* Create application tasks */
while (DEF_TRUE) { /* Task body, always written as an infinite loop */
beep();
OSTimeDlyHMSM(0, 0, 0, 50);
}
}
void dEngine_Init(void)
{
FS_InitFilesystem();
Log_Printf("dEngine Initialization...\n");
ENT_InitCacheSystem();
TEXT_InitCacheSystem();
MAT_InitCacheSystem();
#ifdef GENERATE_VIDEO
dEngine_INIT_ScreenshotBuffer();
#endif
engine.sceneId = -1;
dEngine_RequireSceneId(0);
//engine.recordVideo = 0;
engine.musicFilename[0] = '\0';
engine.musicStartAt = 0;
engine.playback.filename[0] = '\0';
// Enable/disable sounds here
engine.soundEnabled = 0;
engine.musicEnabled = 0;
engine.gameCenterEnabled = 0;
ENPAR_Init();
dEngine_ReadConfig();
SCR_Init();
MATLIB_LoadLibraries();
COLL_InitUnitCube();
ENE_Mem_Init();
//SND_Init();
MENU_Init();
}
int main( void )
{
int i;
int led = 0;
uint16_t prevSwitches = 0;
InitHardware();
InitADC();
InitMotors();
eeprom_read_block( &gMemParam, &gEEParam, sizeof( gMemParam ));
if ( gMemParam.thresh_hi == 0xFF )
{
gMemParam.thresh_hi = 0x80;
}
if ( gMemParam.thresh_lo == 0xFF )
{
gMemParam.thresh_lo = 0x10;
}
#if CFG_LOG_USE_STDIO
fdevopen( UART0_PutCharStdio, UART0_GetCharStdio );
LogInit( stdout );
#endif
// The first handle opened for read goes to stdin, and the first handle
// opened for write goes to stdout. So u0 is stdin, stdout, and stderr
Log( "*****\n" );
Log( "***** Line Maze program\n" );
Log( "*****\n" );
LCD_Init( 2, 16 );
LCD_Printf( " SRS Sample Bot " );
LCD_MoveTo( 0, 1 );
LCD_Printf( "Second line" );
Log( "\n" );
MENU_Init( gTopMenu );
LED_OFF( GREEN );
while( 1 )
{
uint16_t switches;
uint8_t pinc;
uint8_t pind;
int8_t error;
LED_TOGGLE( GREEN );
led++;
if ( led >= 6 )
{
led = 0;
}
error = GetLineError();
if ( MENU_IsActive() )
{
MENU_Event( MENU_EVENT_TIMER );
}
else
{
if ( MENU_IsModified() )
{
eeprom_write_block( &gMemParam, &gEEParam, sizeof( gMemParam ));
MENU_ClearModified();
LCD_Clear();
LCD_Printf( "EEPROM Updated\n" );
Log( "EEPROM Updated\n" );
ms_spin( 1000 );
}
//switches = EXP_TransferWord( ~( 1 << ( led + 2 )), EXP_OUT_LED_MASK );
switches = EXP_TransferWord( 0, 0 );
Log( "SW:%04x ", switches );
if ( switches != prevSwitches )
{
LCD_Clear();
prevSwitches = switches;
}
for ( i = 0; i < 8; i++ )
{
Log( "%02x ", gLineADC[ i ]);
}
//Log( "C: %02x\n", PINC );
switch (( switches & 0xF0 ) >> 4 )
{
case 0:
{
LCD_MoveTo( 0, 0 );
LCD_Printf( " SRS Sample Bot " );
LCD_MoveTo( 0, 1 );
LCD_Printf( "Second line" );
break;
}
case 1:
{
LCD_MoveTo( 0, 0 );
LCD_Printf( "Joy: %c%c%c%c%c",
(( switches & 0x4000 ) == 0 ) ? 'L' : ' ',
(( switches & 0x2000 ) == 0 ) ? 'R' : ' ',
(( switches & 0x0800 ) == 0 ) ? 'U' : ' ',
(( switches & 0x0400 ) == 0 ) ? 'D' : ' ',
(( switches & 0x1000 ) == 0 ) ? 'X' : ' ' );
LCD_MoveTo( 0, 1 );
LCD_Printf( "S1:%d S2:%d S3:%d",
( switches & 0x0200 ) == 0,
( switches & 0x0100 ) == 0,
( PIND & ( 1 << 6 )) == 0 );
break;
}
case 2:
{
LCD_MoveTo( 0, 0 );
LCD_Printf( "L %02x %02x %02x %02x %02x",
gLineADC[ 0 ],
gLineADC[ 1 ],
gLineADC[ 2 ],
gLineADC[ 3 ],
gLineADC[ 4 ] );
LCD_MoveTo( 0, 1 );
LCD_Printf( "E %02x %02x %3d B %02x", gADC[ 0 ], gADC[ 7 ], error, gADC[ 6 ] );
break;
}
default:
{
LCD_MoveTo( 0, 0 );
LCD_Printf( "Setting: %d", ( switches & 0xF0 ) >> 4 );
break;
}
}
pinc = PINC;
pind = PIND;
Log( " QL:%d%d QR:%d%d EC-L:%d EC-R:%d Err:%2d L:%5b H:%5b\n",
( ENCODER_L_A_PIN & ENCODER_L_A_MASK ) != 0,
( ENCODER_L_B_PIN & ENCODER_L_B_MASK ) != 0,
( ENCODER_R_A_PIN & ENCODER_R_A_MASK ) != 0,
( ENCODER_R_B_PIN & ENCODER_R_B_MASK ) != 0,
gEncoderCountL,
gEncoderCountR,
error, gLowMask, gHighMask );
}
// Tick rate is 100/sec so waiting for 50 waits for 1/2 sec
for ( i = 0; i < 50; i++ )
{
WaitForTimer0Rollover();
CheckSwitches();
#if 1
if ( UART0_IsCharAvailable() )
{
char ch = UART0_GetChar();
if ( ch == ' ' )
{
DebugKey();
}
else
{
Log( "Read: '%c'\n", ch );
}
}
#endif
}
}
return 0;
}
void dEngine_Init()
{
ENT_InitCacheSystem();
TEXT_InitCacheSystem();
MAT_InitCacheSystem();
#ifdef GENERATE_VIDEO
dEngine_INIT_ScreenshotBuffer();
#endif
engine.sceneId = -1;
dEngine_RequireSceneId(0);
//engine.recordVideo = 0;
engine.musicFilename[0] = '\0';
engine.musicStartAt = 0;
engine.playback.filename[0] = '\0';
engine.soundEnabled = 1;
engine.musicEnabled = 1;
engine.gameCenterEnabled = 0;
ENPAR_Init();
FS_InitFilesystem();
dEngine_ReadConfig();
SCR_Init();
MATLIB_LoadLibraries();
COLL_InitUnitCube();
ENE_Mem_Init();
SND_Init();
MENU_Init();
//TESTS
/*
char c = CHAR_MAX;
unsigned char uc = UCHAR_MAX;
short s = SHRT_MAX;
unsigned short us = USHRT_MAX;
int i = INT_MAX;
unsigned int ui = UINT_MAX;
long l = LONG_MAX;
unsigned long ul = ULONG_MAX;
printf("\n");
printf("LIMITS: c:%d, uc:%u, s:%d, us:%u\n"
"LIMITS: i:%d, ui:%u, l:%ld, ul:%lu\n",
c, uc, s, us, i, ui, l, ul);
// promotion
printf("\n");
printf("i = s: %d, \n", i = s);
printf("i = us: %d, \n", i = us);
printf("ui = s: %u, \n", ui = s);
printf("ui = us: %u\n", ui = us);
// narrowing
printf("\n");
printf("c = s: %d, \n", c = s);
printf("c = us: %d, \n", c = us);
printf("uc = s: %d, \n", uc = s); //Ln:31
printf("uc = us: %d\n", uc = us);
printf("\n");
printf("uc = UCHAR_MAX (%u) + 1: %u, \n",
UCHAR_MAX, uc = UCHAR_MAX + 1); // Ln:36
printf("uc = -1: %d\n", uc = -1);
*/
}
