/*******************************************************************************
* Function Name : MASS_init
* Description : Mass Storage init routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
void MASS_init()
{
/* Update the serial number string descriptor with the data from the unique
ID*/
Get_SerialNum();
pInformation->Current_Configuration = 0;
/* Connect the device */
PowerOn();
/* Perform basic device initialization operations */
USB_SIL_Init();
bDeviceState = UNCONNECTED;
}
/*******************************************************************************
* Function Name : CustomHID_init.
* Description : Custom HID init routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
void CustomHID_init(void)
{
/* Update the serial number string descriptor with the data from the unique
ID*/
Get_SerialNum();
pInformation->Current_Configuration = 0;
/* Connect the device */
PowerOn();
/* USB interrupts initialization */
_SetISTR(0); /* clear pending interrupts */
wInterrupt_Mask = IMR_MSK;
_SetCNTR(wInterrupt_Mask); /* set interrupts mask */
bDeviceState = UNCONNECTED;
}
// Инициализация USB-девайса
void SomeDev_init()
{
// Получаем серийный номер
Get_SerialNum();
// Задаем текущую конфигурацию
pInformation->Current_Configuration = 0;
// Подключение
PowerOn();
// Основные инициализации
USB_SIL_Init();
bDeviceState = UNCONNECTED;
}
void CDialogWritePublishInfo::OnBtnWrite()
{
//上电
char ATR[100]= {0};
int re=PowerOn(hDev,0x01,ATR);
if(re!=0)
{
this->MessageBox("健康卡上电失败!");
return;
}
CHealthCardReaderDlg *dlg=(CHealthCardReaderDlg*)pDlg;
CString KLB; //卡类别代码
CString GFBB; //规范版本
CString FKJGMC; //发卡机构名称
CString FKJGDM; //发卡机构代码
CString FKJGZS; //发卡机构证书
CString FKSJ; //发卡时间，YYYYMMDD格式
CString KH; //卡号，与居民身份证号或者证件号码一致
CString AQM; //安全码
CString XPXLH; //芯片序列号
CString YYCSDM; //应用城市代码
this->GetDlgItemText(IDC_EDIT_KLB,KLB);
this->GetDlgItemText(IDC_EDIT_GFBB,GFBB);
this->GetDlgItemText(IDC_EDIT_FKJGMC,FKJGMC);
this->GetDlgItemText(IDC_EDIT_FKJGDM,FKJGDM);
this->GetDlgItemText(IDC_EDIT_FKJGZS,FKJGZS);
this->GetDlgItemText(IDC_EDIT_FKSJ,FKSJ);
this->GetDlgItemText(IDC_EDIT_KH,KH);
this->GetDlgItemText(IDC_EDIT_AQM,AQM);
this->GetDlgItemText(IDC_EDIT_XPXLH,XPXLH);
this->GetDlgItemText(IDC_EDIT_YYCSDM,YYCSDM);
re=iW_DDF1EF05Info(hDev,KLB.GetBuffer(0),GFBB.GetBuffer(0),FKJGMC.GetBuffer(0),FKJGDM.GetBuffer(0),FKJGZS.GetBuffer(0),FKSJ.GetBuffer(0),KH.GetBuffer(0),AQM.GetBuffer(0),XPXLH.GetBuffer(0),YYCSDM.GetBuffer(0));
if(re!=0)
{
CString temp;
temp.Format("写入失败,错误代码:%d\r\n",re);
dlg->UpdateData();
dlg->m_sData=temp;
dlg->UpdateData(FALSE);
CDialog::OnOK();
return;
}
dlg->UpdateData();
dlg->m_sData="写入成功\r\n";
dlg->UpdateData(FALSE);
CDialog::OnOK();
}
/*******************************************************************************
* Function Name : Virtual_Com_Port_init.
* Description : Virtual COM Port Mouse init routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
void Virtual_Com_Port_Init(void)
{
pInformation->Current_Configuration = 0;
/* Connect the device */
PowerOn();
/* USB interrupts initialization */
/* clear pending interrupts */
_SetISTR(0);
wInterrupt_Mask = IMR_MSK;
/* set interrupts mask */
_SetCNTR(wInterrupt_Mask);
pInformation->Current_Feature = Virtual_Com_Port_ConfigDescriptor[7];
LineCoding_Reset();
/* Wait until device is configured */
while (((volatile DEVICE_INFO*) pInformation)->Current_Configuration == 0); // WARNING
bDeviceState = CONFIGURED;
}
/********************************************
飞控主函数入口
功能：
1.初始化各个硬件
2.初始化系统参数
3.开定时器4等待数据中断到来
4.开定时器3串口广播实时姿态以及相关信息
********************************************/
int main(void)
{
SystemClock(9); //系统时钟初始化
UART1_init(SysClock,115200); //串口1初始化
NVIC_INIT(); //中断初始化
STMFLASH_Unlock(); //内部flash解锁
LedInit(); //IO初始化
delay_init(SysClock); //滴答延时初始化
BT_PowerInit(); //蓝牙电源初始化完成，默认关闭
MotorInit(); //马达初始化
BatteryCheckInit(); //电池电压监测初始化
IIC_Init(); //IIC初始化
MPU6050_DMP_Initialize(); //初始化DMP引擎
PID_INIT(); //PID参数初始化
ParameterRead(); //Flash参数读取
NRF24L01_INIT(); //NRF24L01初始化
SetRX_Mode(); //设无线模块为接收模式
PowerOn(); //开机等待
BT_on(); //蓝牙开
TIM3_Init(36,2000); //定时器3初始化，调试串口输出
TIM4_Init(36,1000); //定时器4初始化，定时采样传感器数据，更新PID输出
while (1) //等待数据更新中断到来
{
// switch(UART1_Get_Char())//检测串口发送数据，做相应处理
// {
// case 'w':
// LedA_on;LedB_on;LedC_on;LedD_on;
// //TxBuf[0]++;
// //UART1_Put_Package(TxBuf);
// LedA_on;LedB_on;LedC_on;LedD_on;
// MotoPWM+=10;
// UART1_Put_Char(0x5a);
// break;
// case 's':
// LedA_off;LedB_off;LedC_off;LedD_off;
// UART1_Put_Char(0xaa);
// MotoPWM-=10;
// break;
// default :break;
// }
// MotorPwmFlash(MotoPWM,MotoPWM,MotoPWM,MotoPWM);
//
}
}
/*******************************************************************************
* Function Name : Virtual_Com_Port_init.
* Description : Virtual COM Port Mouse init routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
void Virtual_Com_Port_init(void) {
/* Update the serial number string descriptor with the data from the unique
ID*/
Get_SerialNum();
pInformation->Current_Configuration = 0;
/* Connect the device */
PowerOn();
/* Perform basic device initialization operations */
USB_SIL_Init();
/* configure the USART to the default settings */
//USART_Config_Default();
bDeviceState = UNCONNECTED;
}
/*******************************************************************************
* Function Name : Joystick_init.
* Description : Joystick Mouse init routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
void Joystick_init(void)
{
pInformation->Current_Configuration = 0;
/* Connect the device */
PowerOn();
/* USB interrupts initialization */
_SetISTR(0); /* clear pending interrupts */
wInterrupt_Mask = IMR_MSK;
_SetCNTR(wInterrupt_Mask); /* set interrupts mask */
pInformation->Current_Feature = Joystick_ConfigDescriptor[7];
/* Wait until device is configured */
while (pInformation->Current_Configuration == 0)
{
NOP_Process();
}
bDeviceState = CONFIGURED;
}
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;
}
boolean ModemGSM::Initialize(HardwareSerial *pSerial, byte pNetworkLedPin, byte pPowerOnPin)
{
pinMode(pNetworkLedPin, OUTPUT);
pinMode(pPowerOnPin, OUTPUT);
FSerial = pSerial;
FNetworkLedPin = pNetworkLedPin;
FPowerOnPin = pPowerOnPin;
FLastKeepAliveTS.Set(KEEPALIVE_INTERVAL_MS);
FLastBlinkTS.Set(NETWORK_LED_UPDATE_INTERVAL_MS);
#ifdef REGISTRATION_DELAYED
FNetworkRegDelayTS.Set(NETWORK_REGISTRAION_DELAY_MS);
#endif
FSMSResendTS.Set(SMS_RETRY_DELAY_MS);
PowerOn();
return InnerSetup();
}
/*******************************************************************************
* Function Name : DFU_init.
* Description : DFU init routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
void DFU_init(void)
{
DEVICE_INFO *pInfo = &Device_Info;
/* Update the serial number string descriptor with the data from the unique ID*/
Get_SerialNum();
pInfo->Current_Configuration = 0;
/* Connect the device */
PowerOn();
/* Perform basic device initialization operations */
USB_SIL_Init();
/* Enable USB interrupts */
USB_Interrupts_Config();
bDeviceState = UNCONNECTED;
}
int main(int argc, char** argv) {
PowerOn();
ClockInit();
ANSELA = 0;
ANSELB = 0;
SPLIM = 0xFFFF; // TODO: implement proper handling of SPLIM.
ModuleInit();
I2cInit();
ShellTaskInit();
App * first = MainMenuAppInit(&main_menu_app);
// Comment out the next line to skip splash.
first = SplashAppInit(&splash_app, first);
AppTaskInit(first);
vTaskStartScheduler();
}
/*******************************************************************************
* Function Name : DFU_init
* Description :
* Input :None
* Output :None
* Return :None
*******************************************************************************/
void DFU_init(void)
{
DEVICE_INFO *pInfo = &Device_Info;
pInfo->Current_Configuration = 0;
pInfo->Current_Feature = DFU_ConfigDescriptor[7];
/* Connect the device */
PowerOn();
/* USB interrupts initialization */
_SetISTR(0); /* clear pending interrupts */
wInterrupt_Mask = IMR_MSK;
_SetCNTR(wInterrupt_Mask); /* set interrupts mask */
/* Enable USB interrupts */
USB_Interrupts_Config();
/* Wait until device is configured */
while (pInfo->Current_Configuration == 0) NOP_Process();
bDeviceState = CONFIGURED;
} /* DFU_init() */
void ProcessPacket( const char *in, char *out )
{
/* Assume valid packet */
strcpy( out, "K" );
if( strncmp( in, "WG", 2 ) == 0 )
{
/* Ping request I think, no action needed.
* Characters 3+ are ascii digits for some parameter.
*/
}
else if( strcmp( in, "RE" ) == 0 )
{
/* Reset? */
verbose_printf( "Reset request received.\n" );
PowerOn();
}
else if( strcmp( in, "CL" ) == 0 )
{
/* Clear? */
verbose_printf( "Clear request received.\n" );
PowerOn();
}
else if( strncmp( in, "KL", 2 ) == 0 )
{
/* Unknown packet, Characters 3+ are ascii digits. */
}
else if( strncmp( in, "VM", 2 ) == 0 )
{
/* Unknown packet, Characters 3+ are ascii digits.
* Observed values are '0' before loading chapter,
* '1' after loading chapter when playback should
* start.
*/
}
else if( strncmp( in, "RP", 2 ) == 0 )
{
/* Repeat count */
int rpCnt = atoi( &in[2] );
verbose_printf( "Repeat request for %d times received.\n", rpCnt );
/* TODO: Implement multiple repeats */
}
else if( strcmp( in, "PL" ) == 0 )
{
/* Play */
verbose_printf( "Play request received.\n" );
Play();
}
else if( strcmp( in, "PU" ) == 0 )
{
/* Play */
verbose_printf( "Pause request received.\n" );
Pause();
}
else if( strncmp( in, "CS", 2 ) == 0 )
{
/* Chapter select */
int title = 0;
int chapter = 0;
sscanf( &in[2], "%d,%d", &title, &chapter );
verbose_printf( "Chapter select request for title %d, chapter %d.\n", title, chapter );
/* TODO: Something with titles? */
SeekToChapter( chapter );
}
else
{
/* Unknown packet? */
verbose_printf( "Unknown packet '%s' received!", in );
strcpy( out, "E" );
}
}
boolean CDWHCIDevice::Initialize (void)
{
DataMemBarrier ();
assert (m_pInterruptSystem != 0);
assert (m_pTimer != 0);
CDWHCIRegister VendorId (DWHCI_CORE_VENDOR_ID);
if (VendorId.Read () != 0x4F54280A)
{
CLogger::Get ()->Write (FromDWHCI, LogError, "Unknown vendor 0x%0X", VendorId.Get ());
return FALSE;
}
if (!PowerOn ())
{
CLogger::Get ()->Write (FromDWHCI, LogError, "Cannot power on");
return FALSE;
}
// Disable all interrupts
CDWHCIRegister AHBConfig (DWHCI_CORE_AHB_CFG);
AHBConfig.Read ();
AHBConfig.And (~DWHCI_CORE_AHB_CFG_GLOBALINT_MASK);
AHBConfig.Write ();
assert (m_pInterruptSystem != 0);
m_pInterruptSystem->ConnectIRQ (ARM_IRQ_USB, InterruptStub, this);
if (!InitCore ())
{
CLogger::Get ()->Write (FromDWHCI, LogError, "Cannot initialize core");
return FALSE;
}
EnableGlobalInterrupts ();
if (!InitHost ())
{
CLogger::Get ()->Write (FromDWHCI, LogError, "Cannot initialize host");
return FALSE;
}
// The following calls will fail if there is no device or no supported device connected
// to root port. This is not an error because the system may run without an USB device.
if (!EnableRootPort ())
{
CLogger::Get ()->Write (FromDWHCI, LogWarning, "No device connected to root port");
return TRUE;
}
if (!m_RootPort.Initialize ())
{
CLogger::Get ()->Write (FromDWHCI, LogWarning, "Cannot initialize root port");
return TRUE;
}
DataMemBarrier ();
return TRUE;
}
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();
}
int32_t main()
{
/***************************************************************************
* ClkInit()
****************************************************************************/
ClkInit();
/***************************************************************************
* GPIOInit();
****************************************************************************/
// DrvGPIO_InitFunction(E_FUNC_GPIO);
outpw(&SYS->P0_MFP, 0);
outpw(&SYS->P1_MFP, 0);
outpw(&SYS->P2_MFP, 0);
outpw(&SYS->P3_MFP, 0);
outpw(&SYS->P4_MFP, 0);
_GPIO_SET_PIN_MODE(MODEM_ON_PORT, MODEM_ON_PIN, GPIO_PMD_OUTPUT);
ModuleOn(TRUE);
_GPIO_SET_PIN_MODE(MODEM_POWER_PORT, MODEM_POWER_PIN, GPIO_PMD_OUTPUT);
ModulePowerOn(FALSE);
_GPIO_SET_PIN_MODE(LOCK_POWER_PORT, LOCK_POWER_PIN, GPIO_PMD_OUTPUT);
LockPower(FALSE);
_GPIO_SET_PIN_MODE(KEY_HELP_PORT, KEY_HELP_PIN, GPIO_PMD_QUASI);
_GPIO_SET_PIN_MODE(KEY_BAT_PORT, KEY_BAT_PIN, GPIO_PMD_QUASI);
_GPIO_SET_PIN_MODE(SLEEP_PORT, SLEEP_PIN, GPIO_PMD_OUTPUT);
ModemSleep(FALSE);
_GPIO_SET_PIN_MODE(LED_PORT, LED_PIN, GPIO_PMD_OUTPUT);
LedDark();
_GPIO_SET_PIN_MODE(INT_PORT, INT_PIN, GPIO_PMD_INPUT);
/***************************************************************************
* TimerInit();
****************************************************************************/
SysTick_Config(SYS_TICK);
// SYS_LockReg();
/***************************************************************************
* UartInit();
****************************************************************************/
UartInit();
// debug(VERSION);
// DrvSYS_GetPLLClockFreq();
/***************************************************************************
* WatchdogInit();
****************************************************************************/
WatchdogInit();
// udpTest();
NvInit();
WhatToDo();
AdcInit();
WaitLockPower();
LockPower(!custermParam.param.lockState);
InitMsgDebug();
if( Communication(10) == FALSE )
SoftReset();
if( isCheckingBattery )
{
delay_50ms(40);
MeasurePower(4);
}
else
{
MeasurePower(2);
}
Flag_ModuleOn = TRUE;
//Flag_ModuleOn = TRUE;
ModemVolumeInit();
///--------------------24.11.2015----------------------------------------------
////////////////////////////////////////////////////////////////////////////////////////
while(PressHelp()&&(tmp_my<200)&&(PressBatter())){
tmp_my++;
delay_50ms(1);
if (tmp_my>=150) {
LedLight(144);
if (custermParam.param.lockState) {
LockPower(TRUE);
custermParam.param.lockState = FALSE;
WriteToNv( &custermParam ); //- save to eeprom
PlayVoice("\"unitUnlock.wav\",2\r");
delay_ms(2000);
LockPower(FALSE);
} else {
// debug("ins");
while(PressBatter()){};
tmp_my=0;
while (tmp_my<25){
tmp_my++;
delay_ms(150);
if (PressBatter()){counterPress++;
while(!PressBatter()){};
}
if (counterPress>2){
PlayVoice("\"unitLock.wav\",2\r");
delay_ms(2000);
custermParam.param.lockState = TRUE;
WriteToNv( &custermParam ); //- save to eeprom
tmp_my=0;
delay_ms(2000);
LockPower(DISABLE);
}
}
LedBlink();
}
///////
tmp_my=0;
}
}
while(custermParam.param.lockState){}
///////////////////////////////////////////////////////////////////////////////////////////////
#ifdef DELAY_TEST
DelayTest();
#endif
PowerOn();
if(state==STATE_POWERING_DOWN || Flag_Power_Down)
{
Flag_Power_Down = FALSE;
EnterPowerDown();
while( TimerWait )
FeedWatchdog();
PowerDown();
//不会返回
}
InitVariables();
if(state == STATE_NULL)
{
state = STATE_1ST_CALL;
TimerWait = 100; // 5 s
}
TimerTestMode = 6000;
//debug("ent main loop");
while(1)
{
///--------------------
if (!TimerTestMode && state==STATE_TEST)
{
PlayMusic(MUSIC_PD);
EnterPowerDown();
}
///--------------------
if( Flag_Incomming )
{
#if 1
TimerWait = 200;
Flag_Incomming = FALSE;
TimerStandby = custermParam.param.delay;
//if(state != STATE_ACTIVE)
{
ModemSleep(FALSE);
state = STATE_INCOMMING;
}
#else
Flag_Incomming = FALSE;
if(state != STATE_INCOMMING)
{
state = STATE_INCOMMING;
ModemSleep(FALSE);
EnterAnswer();
}
#endif
}
if(TimerWait == 0)
{
switch(state)
{
case STATE_POWERING_DOWN:
PowerDown();
break;
case STATE_1ST_CALL:
RegisterWait();
break;
case STATE_REGISTER_OK:
GetCpsiInfo();
if( Flag_ObtainCpsi==TRUE)
{
state = STATE_GSM_STEADY;
if( Flag_SimExist )
{
//delay_50ms(200);
SockOpen();
TimerWait = 400;
}
else
{
TimerWait = 60;
}
}
else
{
TimerWait = 70;
}
break;
case STATE_GSM_STEADY:
if( gPhoneNumOk==PHONE_NUM_READY || Flag_SimExist==FALSE)
EnterCall();
else
TimerWait = 40;
break;
case STATE_CALL_PROMPT:
Call();
break;
case STATE_ALERT:
EnterCallFail();
break;
case STATE_NEXT_CALL:
Redial();
break;
case STATE_BATT_DISPLAY:
EnterPowerDown();
break;
case STATE_INCOMMING:
TimerStandby = custermParam.param.delay;
EnterStandby();
break;
}
}
if( TimerSock==0 && Flag_SimExist
&& ( (state>=STATE_GSM_STEADY && state<STATE_STANDBY) || progress>=TEST_GPS ) )
{
switch(sockState)
{
//case SOCKSTATE_NULL:
case SOCKSTATE_CONFIG:
case SOCKSTATE_OPENNING:
SockOpen(); // 打开失败，从新打开
break;
case SOCKSTATE_OPENED:
SendAtWaitRsq(50, 1, FALSE, "AT+CIPOPEN=0,\"UDP\",,,%s\r\n", custermParam.param.local_port);
TimerSock = 80;
break;
#if 0
case SOCKSTATE_CONNECTING:
SockConnect(); // 连接失败，从新连接
break;
#endif
case SOCKSTATE_CONNECT_OK:
if( witchApn == 1)
ClientInit();
break;
default:
break;
}
}
KeyHandle();
SecondHandle();
//SignalCheck();
BatterCheck();
PowerDownHandle();
MsgHandle();
if( Flag_SimExist )
{
UdpHandle();
SmsHandle();
PowerDownHandle();
}
FeedWatchdog();
}
}
/** 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;
}
}