void power_off(AsebaVMState *vm) {
unsigned int flags;
// Protect against two racing poweroff:
// One from the softirq (button)
// One from the VM
RAISE_IPL(flags,1);
behavior_stop(B_ALL);
play_sound_block(SOUND_POWEROFF);
// Shutdown all peripherals ...
switch_off();
// Switch off USB
// If we are connected to a PC, disconnect.
// If we are NOT connected to a PC but 5V is present
// ( == charger ) we need to keep the transciever on
if(usb_uart_configured())
USBDeviceDetach();
// In any case, disable the usb interrupt. It's safer
_USB1IE = 0;
CHARGE_ENABLE_DIR = 1;
analog_enter_poweroff_mode();
}
void main(void) {
InitializeSystem();
while (1) {
// Comprueba el terminal que indica la conexión USB al inicio o al reset
if (PORTBbits.RB4 == 1) {
// Si no se ha activado el USB, lo activa
if ((USBGetDeviceState() == DETACHED_STATE)) {
USBDeviceAttach();
} else {
// Si ya se ha activado, realiza las tareas USB
// USB Tasks
blinkUSBStatus();
processUSBData();
}
} else {
// Si no está conectado el terminal USB, entra en modo de bajo consumo
USBDeviceDetach();
LATCbits.LATC0 = 0;
OSCCONbits.IDLEN = 0;
Sleep();
Nop();
}
}//end while
}//end main
void ConsoleInit(void)
{
#if defined(ENABLE_CONSOLE)
unsigned long i = 0;
// Don't attempt anything if not connected
if (!USB_BUS_SENSE) return;
USBInitializeSystem();
USBDeviceAttach();
// This will only work in an interrupt driven USB system - exits on button press, only exits after enumeration is usb is detected
while (USBDeviceState < CONFIGURED_STATE)
{
#ifndef USB_INTERRUPT
USBDeviceTasks(); // Interrupt or polling method. If using polling, must call
#endif
USBProcessIO();
Delay10us(1);
// Timed-out starting connection (perhaps a charger or disconnected?)
if (i++ >= 1000000ul)
{
// The USB connection has failed -- if we're not using the PLL when the radio is on, turn it off now
USBDeviceDetach();
return;
}
}
// Gives host time to assign CDC port
i = 0;
while (USBDeviceState >= CONFIGURED_STATE && i++ < 600000ul)
{
MRF_LED = 1;
#ifndef USB_INTERRUPT
USBDeviceTasks(); // Interrupt or polling method. If using polling, must call
#endif
USBProcessIO();
Delay10us(10);
if (usb_haschar())
{
break;
}
}
MRF_LED = 0;
#endif
return;
}
void ChipKITUSBDeviceDetach(void)
{
USBDeviceDetach();
}
// Attached to USB
void RunAttached(void)
{
// Do this first to give the card time to start up
SD_ENABLE(); // Turn on SD card
// Enable peripherals
RtcInterruptOn(0); // Keeps time upto date
LED_SET(LED_WHITE);
CLOCK_PLL(); // PLL clock
// Initialize sensors
// Check if we have an accelerometer
AccelVerifyDeviceId();
// Check if we have a gyro
#ifdef USE_GYRO
GyroVerifyDeviceId();
#endif
#ifdef HAS_PROX
// Check for prox
ProxVerifyDeviceId();
ProxStartup();
#endif
// Initialize sensors
AccelStartup(ACCEL_RANGE_4G|ACCEL_RATE_100);
#ifdef USE_GYRO
GyroStartup();
#endif
AdcInit();
#ifndef NO_DISPLAY
DisplayClear();
Display_print_xy(" <= USB =>",0,2,2);
#endif
status.diskMounted = (status.lockCode == 0x0000) ? 1 : 0;
status.stream = 0;
// MDD_MediaInitialize(); // KL FIX: The SD card is re-inited in the usb framework which causes a lockup in some cases
// Power up module if off
PMD4bits.USB1MD = 0;
USBInitializeSystem(); // Initializes buffer, USB module SFRs and firmware
#ifdef USB_INTERRUPT
USBDeviceAttach();
#endif
while(USB_BUS_SENSE && restart != 1)
{
// Check bus status and service USB interrupts.
#ifndef USB_INTERRUPT
USBDeviceTasks(); // Interrupt or polling method. If using polling, must call
#endif
USBProcessIO();
if ((USBGetDeviceState() >= CONFIGURED_STATE) && (USBIsDeviceSuspended() == FALSE))
{
const char *line = _user_gets();
status.attached = 1;
if (line != NULL)
{
status.stream = 0; // Disable streaming
SettingsCommand(line, SETTINGS_USB);
}
}
else
{
status.attached = -1;
}
TimedTasks();
// Stream accelerometer data
if (status.stream)
{
#define STREAM_RATE 10
#define STREAM_INTERVAL (0x10000UL / STREAM_RATE)
static unsigned long lastSampleTicks = 0;
unsigned long now = RtcTicks();
if (lastSampleTicks == 0) { lastSampleTicks = now; }
if (now - lastSampleTicks > STREAM_INTERVAL)
{
accel_t accelSample;
#ifdef USE_GYRO
gyro_t gyroSample;
#endif
extern unsigned char scratchBuffer[];
char * ptr = (char *)scratchBuffer;
unsigned short len;
lastSampleTicks += STREAM_INTERVAL;
if (now - lastSampleTicks > 2 * STREAM_INTERVAL) { lastSampleTicks = now; } // not keeping up with sample rate
#ifdef HAS_PROX
// Sample sensors
if(ProxSampleReady())
{
ProxReadSample();
ProxStartSample();
}
#endif
AccelSingleSample(&accelSample);
#ifdef USE_GYRO
GyroSingleSample(&gyroSample);
#endif
// Write ascii to scratch buffer
ptr = (char *)scratchBuffer;
ptr += sprintf(ptr, "\f$ACCEL=%d,%d,%d\r\n", accelSample.x, accelSample.y, accelSample.z);
#ifdef USE_GYRO
ptr += sprintf(ptr, "$GYRO=%d,%d,%d\r\n", gyroSample.x, gyroSample.y, gyroSample.z);
#endif
#ifdef HAS_PROX
ptr += sprintf(ptr, "$PROX=%d\r\n", prox.proximity);
ptr += sprintf(ptr, "$LIGHT=%d\r\n", prox.light);
#endif
len = (unsigned short)((void*)ptr - (void*)scratchBuffer);
// Stream over USB
if ((status.stream) && status.attached == 1) { usb_write(scratchBuffer, len); }
}
}
}
#if defined(USB_INTERRUPT)
USBDeviceDetach();
#endif
status.attached = -1;
return;
}
