/**
* \brief Write Border(Input) Dummy Line
* \note Set Border byte 0xFF to write Black and set 0xAA to write White
*
* \param EPD_type_index The defined EPD size
*/
static void border_dummy_line(uint8_t EPD_type_index)
{
uint16_t i;
for (i = 0; i < COG_parameters[EPD_type_index].data_line_size; i++)
{
COG_Line.uint8[i] = 0x00;
}
*data_line_border_byte=BORDER_BYTE_B;
//Write a Border(B) Dummy Line
epd_spi_send (0x0a, (uint8_t *)&COG_Line.uint8, COG_parameters[EPD_type_index].data_line_size);
//Turn on OE
epd_spi_send_byte (0x02, 0x07);
sys_delay_ms(40);
*data_line_border_byte=BORDER_BYTE_W;
//Write a Borde(B) Dummy Line
epd_spi_send (0x0a, (uint8_t *)&COG_Line.uint8, COG_parameters[EPD_type_index].data_line_size);
//Turn on OE
epd_spi_send_byte (0x02, 0x07);
sys_delay_ms(200);
}
void branching()
{
sys_delay_ms(2);
#define TURN_POWER (60)
//currently around 10 ticks per second
#define TURN_ENC (38)
if (maze.lf > maze.right)
//Left is open
motor_set_target(TURN_ENC,-TURN_ENC);
else
//Right is open
motor_set_target(-TURN_ENC,TURN_ENC);
}
/*
Deallocates a mailbox. If there are messages still present in the
mailbox when the mailbox is deallocated, it is an indication of a
programming error in lwIP and the developer should be notified.
*/
void
sys_mbox_free(sys_mbox_t *mbox)
{
#define MAX_POLL_CNT 100
#define PER_POLL_DELAY 20
uint16_t count = 0;
bool post_null = true;
LWIP_DEBUGF(ESP_THREAD_SAFE_DEBUG, ("sys_mbox_free: set alive false\n"));
(*mbox)->alive = false;
while ( count++ < MAX_POLL_CNT ){ //ESP32_WORKAROUND
LWIP_DEBUGF(ESP_THREAD_SAFE_DEBUG, ("sys_mbox_free:try lock=%d\n", count));
if (!sys_mutex_trylock( &(*mbox)->lock )){
LWIP_DEBUGF(ESP_THREAD_SAFE_DEBUG, ("sys_mbox_free:get lock ok %d\n", count));
sys_mutex_unlock( &(*mbox)->lock );
break;
}
if (post_null){
LWIP_DEBUGF(ESP_THREAD_SAFE_DEBUG, ("sys_mbox_free: post null to mbox\n"));
if (sys_mbox_trypost( mbox, NULL) != ERR_OK){
ESP_STATS_DROP_INC(esp.free_mbox_post_fail);
LWIP_DEBUGF(ESP_THREAD_SAFE_DEBUG, ("sys_mbox_free: post null mbox fail\n"));
} else {
post_null = false;
LWIP_DEBUGF(ESP_THREAD_SAFE_DEBUG, ("sys_mbox_free: post null mbox ok\n"));
}
}
if (count == (MAX_POLL_CNT-1)){
ESP_LOGW(TAG, "WARNING: mbox %p had a consumer who never unblocked. Leaking!\n", (*mbox)->os_mbox);
}
sys_delay_ms(PER_POLL_DELAY);
}
LWIP_DEBUGF(ESP_THREAD_SAFE_DEBUG, ("sys_mbox_free:free mbox\n"));
if (uxQueueMessagesWaiting((*mbox)->os_mbox)) {
xQueueReset((*mbox)->os_mbox);
/* Line for breakpoint. Should never break here! */
__asm__ volatile ("nop");
}
int main(){
/*uint8_t status = 1;
CTRL ^= 3 << LEDFLASH_MODE;
while(1){
sys_wdt_rst(0);
nand_rst();
nand_set_ecc(1);
sys_delay_ms(1);
}*/
/*uint8_t tmpbuf[32], nullbuf[32];
uint32_t t;
for(uint8_t i = 0; i < 32; i++) tmpbuf[i] = i, nullbuf[i] = 0;
CTRL ^= LEDFLASH_MODE_MASK;
while(1){
t = TIMER;
for(uint8_t i = 0; i < 16; i++) spimem_write(0, 32, tmpbuf), spimem_write(0,32,nullbuf); //32 writes
sys_uart_printdec(TIMER-t); sys_uart_write(' ');
sys_wdt_rst(1);
}*/
//sys_signal_startup();
sys_init();
sys_wdt_rst(0);
sys_delay_ms(1000);
sys_wdt_rst(1);
sys_delay_ms(1000);
sys_wdt_rst(1);
/*CTRL |= ITIMER_MODE_MASK;
ITIMER = 32766;
set_interrupt_mask(IE_ITIMER_MASK | IE_LOW_BATT_MASK);*/
//set_interrupt_mask(IE_LOW_BATT_MASK);
dock_on_start();
// if(SFLAG(WD_FLAG_MASK) && !SFLAG(LUP_FLAG_MASK)) sys_uart_printstr("WDr");
// if(SFLAG(WD_FLAG_MASK | LUP_FLAG_MASK)) sys_uart_printstr("LCKr");
jpeg_init();
sys_signal_startup();
//selftest(); //WARNING!!!!!
//sys_failure(SYS_FAILURE_SENSOR_CHECK, 0);
while(1){
exec_sign ^= 0x1;
//action
sensor_grab(1);
frame_cnt++;
if(diff_use() == 0)
monitor_jpeg_to_dest(cur_mode.q_table, 2, 0), saved_frame_cnt++;
else exec_sign ^= 0x1F00;
//service
stat_mode_on_loop();
stat_on_loop();
sys_wdt_rst(1);
monitor_loop();
//delay
sys_delay_fps();
sys_check_exec_signature();
}
return 0;
}
