int MainIdleProc(void)
{
// should not let POS go into sleep mode when running simulator
int iRet;
if (POWER_BATTERY == OsCheckPowerSupply())
{
if (glSysParam.stEdcInfo.ucIdleShutdown)
{
PowerOff();
}
else
{
// Modified by Kim_LinHB 2014-7-8
Gui_ClearScr();
Gui_ShowMsgBox(_T("POWER SAVING"), gl_stTitleAttr, NULL, _T("PRESS ANY KEY\nTO RECOVER"), gl_stCenterAttr, GUI_BUTTON_NONE, 0, NULL);
do
{
iRet = SysSleep("00");
} while((iRet==-3) && (kbhit()!=0));
// 很奇怪的现象：除非在上次SysSleep返回之后调用DelayMs(3000)，否则即使间隔1分钟，调用SysSleep仍会直接返回-3。
// 因此我在这里加了判断，如果返回-3而且没有按键则继续重复SysSleep
// 在外部已经保证了进入MainIdleProc的间隔>=1分钟
// it needs to delay 3 seconds after return from SysSleep, otherwise SysSleep will return -3 even the period of calling SysSleep is over 1 min,
// so here is a special processing, if return -3 from SysSleep and no key was pressed then continue calling SysSleep.
DelayMs(100);
kbflush();
Gui_ClearScr(); // Added by Kim_LinHB 2014-08-13 v1.01.0003
}
return 0;
}
return -1;
}
void board::usbVcomHwConfigInit()
{
if (!bInitialized)
{
bInitialized = true;
Set_USBClock();
Set_USBPullUp();
PowerOff();
for (unsigned int i = 500000; i--;) { continue; }
Set_USBInterrupt(false);
// Wait a bit to let the Host disconnect the device
for (unsigned int i = 500000; i--;) { continue; }
// USB_Cable_Config(ENABLE);
// for (unsigned int i = 500000; i--;) { continue; }
Set_USBInterrupt(true);
USB_Init();
for (unsigned int i = 500000; i--;) { continue; }
for (unsigned int i = 500000; i--;) { continue; }
}
}
// Function to complusively shut down the system with a given mode.
static void
QuitHard(hal::ShutdownMode aMode)
{
switch (aMode)
{
case hal::eHalShutdownMode_PowerOff:
PowerOff();
break;
case hal::eHalShutdownMode_Reboot:
Reboot();
break;
case hal::eHalShutdownMode_Restart:
// Don't let signal handlers affect forced shutdown.
kill(0, SIGKILL);
// If we can't SIGKILL our process group, something is badly
// wrong. Trying to deliver a catch-able signal to ourselves can
// invoke signal handlers and might cause problems. So try
// _exit() and hope we go away.
_exit(1);
break;
default:
MOZ_NOT_REACHED();
break;
}
MOZ_NOT_REACHED();
}
void main(int argc, char** argv, int entrypoint)
{
(void) argc;
(void) argv;
PXI_Reset();
I2C_init();
// Wait for ARM11
PXI_WaitRemote(PXI_READY);
PXI_DoCMD(PXI_SCREENINIT, NULL, 0);
I2C_writeReg(I2C_DEV_MCU, 0x22, 0x2A);
#ifdef SCRIPT_RUNNER
// Run the script runner
if (ScriptRunner(entrypoint) == GODMODE_EXIT_REBOOT)
#else
// Run the main program
if (GodMode(entrypoint) == GODMODE_EXIT_REBOOT)
#endif
Reboot();
PowerOff();
}
/*******************************************************************************
* Function Name : Mass_Storage_Start
* Description : Starts the mass storage demo.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void Mass_Storage_Start (void)
{
/* Disble the JoyStick interrupts */
IntExtOnOffConfig(DISABLE);
/* Clear the LCD screen */
LCD_Clear(White);
LCD_SetDisplayWindow(160, 223, 128, 128);
LCD_DrawBMP(0x00647C00);
/* Disable LCD Window mode */
LCD_WindowModeDisable();
/* Set the Back Color */
LCD_SetBackColor(Blue);
/* Set the Text Color */
LCD_SetTextColor(White);
if(MSD_Init() != 0x00)
{
LCD_DisplayStringLine(Line8, " No MSD Card Present");
LCD_DisplayStringLine(Line9, " To exit Press SEL ");
/* Loop until SEL key pressed */
while(ReadKey() != SEL)
{
}
}
else
{
Get_Medium_Characteristics();
/* Display the " Plug the USB " message */
LCD_DisplayStringLine(Line8, " Plug the USB Cable ");
LCD_DisplayStringLine(Line9, "Exit: Push JoyStick");
/* Intialize the USB cell */
USB_Init();
LCD_ClearLine(Line9);
/* Display the "To stop Press SEL" message */
LCD_DisplayStringLine(Line8, " To stop Press SEL ");
/* Loop until SEL key pressed */
while(ReadKey() != SEL)
{
}
PowerOff();
}
LCD_Clear(White);
DisplayMenu();
IntExtOnOffConfig(ENABLE);
/* Flush SPI1 Data Register */
SPI_I2S_ReceiveData(SPI1);
}
static void MainMenuAppOnCommand(App * app, AppCommand const cmd) {
switch (cmd.cmd) {
case APP_CMD_POWER_OFF:
PowerOff();
break;
default:
assert(false);
}
}
void ColourEngine::SetPower(power_t power, uint fade) {
if (current_power != power) {
if (power == ON) {
PowerOn(fade);
}
else {
PowerOff(fade);
}
current_power = power;
}
}
int main()
{
ClearScreenFull(true, true);
InitFS();
u32 menu_exit = ProcessMenu(menu, SUBMENU_START);
DeinitFS();
(menu_exit == MENU_EXIT_REBOOT) ? Reboot() : PowerOff();
return 0;
}
int main()
{
u32 menu_exit = MENU_EXIT_REBOOT;
if (InitializeD9() <= 1) {
menu_exit = ProcessMenu(menu, SUBMENU_START);
}
DeinitFS();
(menu_exit == MENU_EXIT_REBOOT) ? Reboot() : PowerOff();
return 0;
}
int PowerCommand(int argc, char const ** argv) {
if (argc != 2) return -1;
char const * subcommand = argv[1];
if (strcmp("off", subcommand) == 0) {
PowerOff();
return 0;
} else if (strcmp("good", subcommand) == 0) {
printf("%s\r\n", PowerIsGood() ? "GOOD" : "BAD");
return 0;
} else {
return -2;
}
}
void USB_Reset(void)
{
#if defined(Bootloader) && !defined(PullDown) && !defined(Maple)
/* disable USB */
PowerOff();
/* USB reset by pulling USBDP shortly low. A pullup resistor is needed, most
* boards have it. */
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_WriteBit(GPIOA, GPIO_Pin_12, Bit_RESET);
delay_ms(15);
#endif
}
void
System::DoEMCON(int index)
{
int e = GetEMCONPower(index);
if (power_level * 100 > e || emcon != index) {
if (e == 0) {
PowerOff();
}
else {
if (emcon != index)
PowerOn();
SetPowerLevel(e);
}
}
emcon = index;
}
void Hardware_::Init()
{
BOARD_INIT();
// Resetting because of a brownout power goes down.
// Stay down buddy
if (MCUSR == 4)
PowerOff(); // now in bootloader
Backlight_Init();
Timer_Init();
Accelerometer_Init();
ADC_Init();
USBInit();
Touch_Init();
sei();
// Attach stdout to usb serial
StdOutInit();
}
// Called from userspace to do something, like set the LEDs
IOReturn WirelessHIDDevice::setReport(IOMemoryDescriptor *report, IOHIDReportType reportType, IOOptionBits options)
{
char data[2];
if (report->readBytes(0, data, 2) < 2)
return kIOReturnUnsupported;
switch (data[0]) {
case 0x01: // LED
if ((data[1] != report->getLength()) || (data[1] != 0x03))
return kIOReturnUnsupported;
report->readBytes(2, data, 1);
SetLEDs(data[0]);
return kIOReturnSuccess;
case 0x02: // Power
PowerOff();
return kIOReturnSuccess;
default:
return super::setReport(report, reportType, options);
}
}
void PowerOff()
{
AssertMainThread();
PROXY_IF_SANDBOXED(PowerOff());
}
/*******************************************************************************
* Function Name : Mass_Storage_Start
* Description : Starts the mass storage demo.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void Mass_Storage_Start (void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Disble the JoyStick interrupts */
IntExtOnOffConfig(DISABLE);
while(ReadKey() != NOKEY)
{
}
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_FSMC, ENABLE);
/* Clear the LCD screen */
LCD_Clear(White);
LCD_SetDisplayWindow(160, 223, 128, 128);
LCD_NORDisplay(USB_ICON);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_FSMC, ENABLE);
/* Disable LCD Window mode */
LCD_WindowModeDisable();
/* Set the Back Color */
LCD_SetBackColor(Blue);
/* Set the Text Color */
LCD_SetTextColor(White);
/* Display the " Plug the USB " message */
LCD_DisplayStringLine(Line8, " Plug the USB Cable ");
LCD_DisplayStringLine(Line9, "Exit: Push JoyStick");
/* Enable and GPIOD clock */
USB_Disconnect_Config();
/* MAL configuration */
MAL_Config();
Set_USBClock();
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = SDIO_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
USB_Init();
while (bDeviceState != CONFIGURED)
{
if(ReadKey() != NOKEY)
{
PowerOff();
LCD_Clear(White);
DisplayMenu();
IntExtOnOffConfig(ENABLE);
return;
}
}
LCD_ClearLine(Line9);
/* Display the "To stop Press SEL" message */
LCD_DisplayStringLine(Line8, " To stop Press SEL ");
/* Loop until SEL key pressed */
while(ReadKey() != SEL)
{
}
PowerOff();
LCD_Clear(White);
DisplayMenu();
IntExtOnOffConfig(ENABLE);
}
void Board_main(void)
{
uint8_t i;
uint16_t flash_flag = 0;
uint16_t copy_file_flag = 0;
/* RCC system reset(for debug purpose) */
RCC_DeInit();
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
/* Wait till HSE is ready */
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
#if 0
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
FLASH_HalfCycleAccessCmd(FLASH_HalfCycleAccess_Disable);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
#else
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
FLASH_HalfCycleAccessCmd(FLASH_HalfCycleAccess_Enable);
/* Flash 2 wait state */
/*FLASH_SetLatency(FLASH_Latency_2);*/
FLASH_SetLatency(FLASH_Latency_0); /*abin@ */
#endif
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);
/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
#if 0
/* PLLCLK = 8MHz * 9 = 72 MHz */
/*abin:note*/
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
// RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_8);
/* Enable PLL */
RCC_PLLCmd(ENABLE);
/* Wait till PLL is ready */
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x08)
{
}
#else
RCC_PLLCmd(DISABLE);
/* Select HSE as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_HSE);
/* Wait till PLL is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x04)
{
}
#endif
}
/* Enable GPIOA, GPIOB, and AFIO clocks */
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA |RCC_APB2Periph_GPIOB| RCC_APB2Periph_AFIO, ENABLE);
/* Enable DMA1 ,DMA2 clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1|RCC_AHBPeriph_DMA2, ENABLE);
/* Enable ADC1 ADC2,and GPIOC clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 |RCC_APB2Periph_ADC2| RCC_APB2Periph_GPIOC, ENABLE);
/* Enable PWR and BKP clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_APB1Periph_BKP, ENABLE);
/* Enable write access to Backup domain */
PWR_BackupAccessCmd(ENABLE);
/* Clear Tamper pin Event(TE) pending flag */
BKP_ClearFlag();
#if ABIN_DEBUG
USART_InitStructure.USART_BaudRate = 115200;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
STM_EVAL_COMInit(COM1, &USART_InitStructure);
/* Output a message on Hyperterminal using printf function */
//sys_printf("\n\r abin 8M is ok moify flash latency :USART Init end \n\r");
#endif
/*------------------- Resources Initialization -----------------------------*/
/* GPIO Configuration */
GPIO_Config();
//sys_printf("\n\r abin mul2 :GPIO_Config \n\r");
#if ABIN_CPU_UPGRADE2HIGHSPEED_OPTION
USB_Plugin_State = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_14);
if(USB_Plugin_State == 1)
{
//sys_printf("\n\r abin switch to high speed !!\n\r");
UpgradeToHighSpeed();
}
#endif
/* Interrupt Configuration */
InterruptConfig();
/* Configure the systick */
SysTick_Configuration();
/*------------------- Drivers Initialization -------------------------------*/
/* Initialize the Low Power application */
LowPower_Init();
/* Enable WKUP pin */
PWR_WakeUpPinCmd(ENABLE);
/* Allow access to BKP Domain */
PWR_BackupAccessCmd(ENABLE);
RTC_Init();
/* If HSE is not detected at program startup */
if(HSEStartUpStatus == ERROR)
{
/* Generate NMI exception */
SCB->ICSR |= SCB_ICSR_NMIPENDSET;
}
USB_Disconnect_Config();
GPIO_SetBits(USB_DISCONNECT, USB_DISCONNECT_PIN);/*???abin@20100714*/
WakupPin_Init();
//sys_printf("\n\r abin before CheckPowerOnReason\n\r");
CheckPowerOnReason();
//sys_printf("\n\r abin after CheckPowerOnReason\n\r");
Board_ADC_Init();
/*init the flag*/
flash_flag = *(uint16_t *)FLASH_READY_ADDRESS;
if( flash_flag != FLAG_FLASH_READY)
{
//sys_printf("\n\r abin ready to erase flash \n\r");
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
//Erase the 32 page 32K
for(i = 0;i< DATA_PAGES;i++)
{
//sys_printf("\n\r abin ready to erase aa");
FLASH_ErasePage(DATA_LOGGER_ADDRESS_START + i * 1024);/*数据在Page1...page32存放*/
}
FLASH_ErasePage(FLASH_READY_ADDRESS); /*abin@20100715 没添加保护*/
FLASH_ProgramHalfWord(FLASH_READY_ADDRESS , FLAG_FLASH_READY);
FLASH_ErasePage(REOCRD_COUNT_ADDRESS);
FLASH_ProgramHalfWord(REOCRD_COUNT_ADDRESS , 0x0000);
FLASH_Lock();
//sys_printf("\n\r abin mul2 :erase flash end!!!\n\r");
}
//sys_printf("\n\r abin ready to erase flash end \n\r");
USB_Plugin_State = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_14);
if(USB_Plugin_State == 0)
{
record_count = *(uint16_t *)REOCRD_COUNT_ADDRESS;
if(record_count >= 15428)
{
//Write the full flag
//Do nothing....
while(1)
{
//sys_printf("\n\r sample end !!!!!!!!!!!!!!!!!!!!!\n\r");
Led_One_By_One(4);
/*应该进入standy 模式 abin@20100715*/
}
}
else
{
//sys_printf("\n\r abin ready to add sample count \n\r");
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
FLASH_ProgramHalfWord(DATA_LOGGER_ADDRESS_START + record_count * 2, GetTemperature());
//Erase first
FLASH_ErasePage(REOCRD_COUNT_ADDRESS);
//Update the count
record_count = record_count + 1;
FLASH_ProgramHalfWord(REOCRD_COUNT_ADDRESS , record_count);
FLASH_Lock();
//sys_printf("\n\r abin add sample count :end\n\r");
}
//sys_printf("\n\r %000\n\r");
GPIO_SetBits(GPIOA, GPIO_Pin_1);
#if 0
Delay(25);
#else
Delay(5);
#endif
//sys_printf("\n\r %111\n\r");
}
else
{
Enable_SDcard();
/*
if there is usb connect, copy the data to sdcard. and start the mass storage
*/
copy_file_flag = *(uint16_t *)COPY_FILE_ADDRESS;
if(copy_file_flag == FLAG_FILE_COPYED)
{
Write_Copy_File_Flag(FLAG_FILE_NO_COPYED);
USB_Disconnect_Config();
GPIO_SetBits(USB_DISCONNECT, USB_DISCONNECT_PIN);
Delay(10);
GPIO_ResetBits(USB_DISCONNECT, USB_DISCONNECT_PIN);
/* Enable and GPIOD clock */
Mass_Storage_Start ();
while( bDeviceState != CONFIGURED)
{
Led_Both(1);
}
USB_Plugin_State = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_14);
while( USB_Plugin_State == 1)/* U-DISK success ,then CPU Loop in here*/
{
USB_Plugin_State = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_14);
Led_One_By_One(1);
//sys_printf("\n\r abin :mul2 u disk !!!\n\r");
}
PowerOff();
Write_Copy_File_Flag(FLAG_FILE_NO_COPYED);
}
else
{
Write_Copy_File_Flag(FLAG_FILE_COPYED);
Led_Green_Flink(3);
NAND_FAT();
CreateDataLoggerFile();
Write_Copy_File_Flag(FLAG_FILE_COPYED);
//sys_printf("\n\r abin :mul2 NAND_FAT!!!\n\r");
}
//sys_printf("\n\r abin :mul2 Disable_SDcard!!!\n\r");
Disable_SDcard();
BKP_WriteBackupRegister(BKP_POWER_ON, FLAG_POWER_OFF);
PWR_EnterSTANDBYMode();
/* Generate a system reset */
//NVIC_SystemReset();
}
//sys_printf("\n\r @111 \n\r");
/* Set the RTC Alarm after 60s */
RTC_SetAlarm(RTC_GetCounter()+ 3);
//sys_printf("\n\r @222:RTC_GetCounter()=0x%x \n\r",RTC_GetCounter());
/* Wait until last write operation on RTC registers has finished */
RTC_WaitForLastTask();
//sys_printf("\n\r @333\n\r");
PWR_EnterSTANDBYMode();
}
BOOL Irman::Open( ) {
if (ready())
return TRUE;
if (!m_sComPort.GetLength()) {
return false;
}
const TCHAR * error = _T( "Error opening device" );
CSerialMFC::EPort e = CSerialMFC::CheckPort(m_sComPort);
if (e != CSerialMFC::EPortAvailable) {
CString msg;
msg << m_sComPort << " " << m_serial.EPortError(e);
MBMessageBox("serial i/o error", msg);
return false;
}
LONG o = m_serial.Open(m_sComPort, m_wndMsgHndlr, m_wmsg);
if (o != ERROR_SUCCESS) {
CString msg;
msg << "unable to open " << m_sComPort << " error ["
<< o << "] " << MBFormatError(o);
MBMessageBox("serial i/o error", msg);
return false;
}
o = m_serial.Setup(CSerial::EBaud9600,CSerial::EData8,
CSerial::EParNone,CSerial::EStop1);
if (o != ERROR_SUCCESS) {
CString msg;
msg << "unable to Setup " << m_sComPort << " error ["
<< o << "] " << MBFormatError(o);
MBMessageBox("serial i/o error", msg);
return false;
}
o = m_serial.SetupHandshaking(CSerial::EHandshakeOff);
if (o != ERROR_SUCCESS) {
CString msg;
msg << "unable to Setup HandshakeOff " << m_sComPort << " error ["
<< o << "] " << MBFormatError(o);
MBMessageBox("serial i/o error", msg);
return false;
}
o = m_serial.SetupReadTimeouts(CSerial::EReadTimeoutNonblocking);
if (o != ERROR_SUCCESS) {
CString msg;
msg << "unable to Setup TimeoutNonblocking" << m_sComPort << " error ["
<< o << "] " << MBFormatError(o);
MBMessageBox("serial i/o error", msg);
return false;
}
if (PowerOff( ) == FALSE)
return FALSE;
Sleep( 200 );
if (PowerOn( ) == FALSE)
return FALSE;
Sleep( 100 ); // Time for the output to settle
Flush( ); // Remove power up garbage
m_serial.Write("I"); // These strings must be ASCII, not Unicode
Sleep( 2 ); // Need to have >500us between the 'I' & the 'R'
m_serial.Write("R");
m_OKreceived = 0;
// Need to check that we receive "OK" back from Irman
return RemoteReceiver::Open();
}
/** The state machine of the rotor control engine ...
*
* This is the transition diagram after the command kRotateCW has been issued:
*
* kRotateCW -> kIdle
* |
* | ==> PowerOn()
* \/
* kReleaseBrake
* |
* kStop -> | -------- >>> -------+
* | ==> ReleaseBrake() |
* | |
* \/ |
* kRotorRampup |
* | |
* kStop -> | -------- >>> -------|--+
* | ==> RotateCW() | |
* | | |
* \/ | |
* kTurningCW | |
* | | |
* * <-------------------+ |
* kStop -> | |
* | ==> RotorOff() |
* | |
* \/ |
* kLockBrake |
* | |
* * <----------------------+
* |
* | ==> LockBrake()
* |
* \/
* kRotorRampdown
* |
* | ==> PowerOff()
* |
* \/
* kIdle
*
* It will be handled in a similar way for the command kRotateCCW.
*
* As the trasitions will take some time, it is not unlikely, that the kStop
* event is issued before the state kTurningCW is reached. In that case the
* rotor relays etc. must be switched off in a proper order.
*/
void RotatorExec(void) {
switch ( gRotatorCommand ) {
case kStop:
SetBusy(1);
switch ( gRotatorState ) {
case kReleaseBrake: // ???
case kTurningCW:
case kTurningCCW:
RotatorOff();
gRotatorBusyCounter = 5;
gRotatorState = kLockBrake;
break;
case kRotorRampup: // ???
case kLockBrake:
BrakeLock();
gRotatorBusyCounter = 5;
gRotatorState = kRotorRampdown;
break;
case kRotorRampdown:
PowerOff();
gRotatorState = kIdle;
gRotatorBusyCounter = 10;
break;
case kIdle:
gRotatorCommand = kNone;
SetBusy(0);
break;
}
break;
case kTurnCW:
SetBusy(1);
switch ( gRotatorState ) {
case kIdle:
PowerOn();
gRotatorState = kReleaseBrake;
gRotatorBusyCounter = 10;
break;
case kReleaseBrake:
BrakeRelease();
gRotatorState = kRotorRampup;
gRotatorBusyCounter = 5;
break;
case kRotorRampup:
gRotatorState = kTurningCW;
RotatorCW();
gRotatorBusyCounter = 5;
break;
case kTurningCW:
gRotatorState = kTurningCW;
gRotatorCommand = kNone;
break;
}
break;
case kTurnCCW:
SetBusy(1);
switch ( gRotatorState ) {
case kIdle:
PowerOn();
gRotatorState = kReleaseBrake;
gRotatorBusyCounter = 10;
break;
case kReleaseBrake:
BrakeRelease();
gRotatorState = kRotorRampup;
gRotatorBusyCounter = 5;
break;
case kRotorRampup:
gRotatorState = kTurningCCW;
RotatorCCW();
gRotatorBusyCounter = 5;
break;
case kTurningCCW:
gRotatorState = kTurningCCW;
gRotatorCommand = kNone;
break;
}
break;
case kFastStop:
RotatorOff();
BrakeLock();
PowerOff();
// reset state machine and command variable
gRotatorState = kIdle;
gRotatorCommand = kNone;
// both PRESET LEDs off
LED_PORT &= ~(LED_LEFT | LED_RIGHT);
SetBusy(0);
// clear preset data
gPresetHeading = gCurrentHeading;
gPresetCounter = 0;
gPresetCommand = kPresetNone;
break;
default:
break;
}
}
//---------------------------------------------------------
//---------------------------------------------------------
void CNPC_Roller::StartTask( const Task_t *pTask )
{
switch( pTask->iTask )
{
case TASK_ROLLER_ON:
PowerOn();
TaskComplete();
break;
case TASK_ROLLER_OFF:
PowerOff();
TaskComplete();
break;
case TASK_ROLLER_WAIT_FOR_PHYSICS:
// Stop rolling.
m_flWaitFinished = gpGlobals->curtime;
m_RollerController.m_vecAngular = vec3_origin;
PowerOff();
break;
case TASK_ROLLER_FIND_PATROL_NODE:
m_pHintNode = CAI_Hint::FindHint( this, HINT_ROLLER_PATROL_POINT, 0, 1024 );
if(!m_pHintNode)
{
TaskFail("Couldn't find roller patrol node");
}
else
{
TaskComplete();
}
break;
case TASK_ROLLER_UNSTICK:
Unstick();
if( m_vecUnstickDirection == vec3_origin )
{
TaskComplete();
}
else
{
VPhysicsGetObject()->Wake();
PowerOn();
// Cut back on the fail count, but not all the way.
// Only a successful opportunity move sets this to 0.
m_iFail /= 2;
m_flWaitFinished = gpGlobals->curtime + 2;
}
break;
case TASK_WALK_PATH:
case TASK_RUN_PATH:
// Make sure the controller isn't turned off.
m_iFail = 0; // Successfully starting to move.
VPhysicsGetObject()->Wake();
PowerOn();
break;
case TASK_ROLLER_ISSUE_CODE:
m_iCodeProgress = 0;
m_flWaitFinished = gpGlobals->curtime;
break;
default:
BaseClass::StartTask( pTask );
break;
}
}
u32 ProcessEntry(MenuEntry* entry)
{
bool emunand = entry->param & N_EMUNAND;
bool nand_force = entry->param & N_FORCENAND;
bool warning = entry->param & N_NANDWRITE;
u32 pad_state;
u32 res = 0;
// unlock sequence for dangerous features
/*if (warning) {
u32 unlockSequenceEmu[] = { BUTTON_LEFT, BUTTON_RIGHT, BUTTON_DOWN, BUTTON_UP, BUTTON_A };
u32 unlockSequenceSys[] = { BUTTON_LEFT, BUTTON_UP, BUTTON_RIGHT, BUTTON_UP, BUTTON_A };
u32 unlockLvlMax = ((emunand) ? sizeof(unlockSequenceEmu) : sizeof(unlockSequenceSys)) / sizeof(u32);
u32* unlockSequence = (emunand) ? unlockSequenceEmu : unlockSequenceSys;
u32 unlockLvl = 0;
#ifdef USE_THEME
LoadThemeGfx((emunand) ? GFX_DANGER_E : GFX_DANGER_S, false);
#endif
DebugClear();
Debug("You selected \"%s\".", entry->name);
Debug("This feature writes to the %s.", (emunand) ? "EmuNAND" : "SysNAND");
Debug("Doing this is potentially dangerous!");
Debug("");
Debug("If you wish to proceed, enter:");
Debug((emunand) ? "<Left>, <Right>, <Down>, <Up>, <A>" : "<Left>, <Up>, <Right>, <Up>, <A>");
Debug("");
Debug("(B to return, START to reboot)");
while (true) {
ShowProgress(unlockLvl, unlockLvlMax);
if (unlockLvl == unlockLvlMax)
break;
pad_state = InputWait();
if (!(pad_state & BUTTON_ANY))
continue;
else if (pad_state & unlockSequence[unlockLvl])
unlockLvl++;
else if (pad_state & (BUTTON_B | BUTTON_START))
break;
else if (unlockLvl == 0 || !(pad_state & unlockSequence[unlockLvl-1]))
unlockLvl = 0;
}
ShowProgress(0, 0);
if (unlockLvl < unlockLvlMax)
return pad_state;
}
*/
// execute this entries function
#ifdef USE_THEME
LoadThemeGfx(GFX_PROGRESS, false);
#endif
DebugClear();
res = (SetNand(emunand, nand_force) == 0) ? (*(entry->function))(entry->param) : 1;
Debug("%s: %s!", entry->name, (res == 0) ? "succeeded" : "failed");
Debug("");
Debug("Press B to return, START to reboot.");
#ifdef USE_THEME
LoadThemeGfx((res == 0) ? GFX_DONE : GFX_FAILED, false);
#endif
/* while(!((pad_state = InputWait()) & (BUTTON_B | BUTTON_START))) {
if (pad_state & BUTTON_X) Screenshot(NULL);
#ifdef LOG_FILE
else if (pad_state & BUTTON_UP) {
pad_state = ScrollOutput();
break;
}
#endif
}
*/
PowerOff();
// returns the last known pad_state
return pad_state;
}
VOID ResetIntoNormalMode ( VOID ) {
DBG (INFO_MESSAGE, "ResetIntoAtMode");
PowerOff ();
PowerOnInNormalMode ();
}
