void gnc_scheduled_stop(uint32 period)
{
task_set_period(TASK_SCHEDULED_STOP, period);
task_enable(TASK_SCHEDULED_STOP);
gnc_signal_command(1);
}
static void button_handler(void) {
GPIOPinIntClear(JOY_PORT, JOY_MASK);
if (GPIOPinRead(JOY_PORT, JOY_MASK) > 0)
{
enabled = 0;
GPIOPinWrite(ASSIST_PORT, (1<< AUX1_ASSIST_BIT), 0);
task_enable(TASK_SET_OFFSET, 0);
}
else
{
enabled = 1;
GPIOPinWrite(ASSIST_PORT, (1<< AUX1_ASSIST_BIT), (1<< AUX1_ASSIST_BIT));
}
}
static void button_handler(void) {
GPIOPinIntClear(JOY_PORT, JOY_MASK);
if (GPIOPinRead(JOY_PORT, JOY_MASK) > 0)
{
enabled = 0;
#if defined(CROSSHAIR_ENABLE_BIT) && CROSSHAIR_ENABLE_BIT >= 0
GPIOPinWrite(CROSSHAIR_PORT, (1<< CROSSHAIR_ENABLE_BIT), 0);
#endif
task_enable(TASK_SET_OFFSET, 0);
}
else
{
enabled = 1;
#if defined(CROSSHAIR_ENABLE_BIT) && CROSSHAIR_ENABLE_BIT >= 0
GPIOPinWrite(CROSSHAIR_PORT, (1<< CROSSHAIR_ENABLE_BIT), (1<< CROSSHAIR_ENABLE_BIT));
#endif
}
}
/*
* ======== cbRxHandler ========
* Callback handler for the USB stack.
*
* Callback handler call by the USB stack to notify us on what has happened in
* regards to the keyboard.
*
* @param(cbData) A callback pointer provided by the client.
*
* @param(event) Identifies the event that occurred in regards to
* this device.
*
* @param(eventMsgData) A data value associated with a particular event.
*
* @param(eventMsgPtr) A data pointer associated with a particular event.
*
*/
static unsigned long cbRxHandler(void *cbData, unsigned long event,
unsigned long eventMsg, void *eventMsgPtr)
{
switch (event) {
case USB_EVENT_RX_AVAILABLE:
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, GPIO_PIN_3);
task_enable(TASK_SERIAL_RX, (void*)&rxBuffer);
break;
case USB_EVENT_DATA_REMAINING:
break;
case USB_EVENT_REQUEST_BUFFER:
break;
default:
break;
}
return (0);
}
static void joystick_isr(void) {
TimerIntClear(JOY_TIMER, TIMER_TIMA_TIMEOUT);
memset(&task_data,0,sizeof(struct task_manual_move_data));
// Only allow the joystick when AUX1 (Crosshair) is enabled
if (enabled) {
unsigned long x = joystick_x[0];
unsigned long y = joystick_y[0];
double x_off = 0;
double y_off = 0;
if (x > joystick_center[0] + ZERO_THRESHOLD) {
x_off = (double)(x - joystick_center[0]) / 0x800;
} else if (x < joystick_center[0] - ZERO_THRESHOLD) {
x_off = -(double)(joystick_center[0] - x) / 0x800;
}
if (y > joystick_center[1] + ZERO_THRESHOLD) {
y_off = (double)(y - joystick_center[1]) / 0x800;
} else if (y < joystick_center[1] - ZERO_THRESHOLD) {
y_off = -(double)(joystick_center[1] - y) / 0x800;
}
// Have two speed levels for accuracy and speed when wanted.
if (fabs(y_off) < 0.5)
y_off /= 50.0;
else// if (fabs(y_off) < 1.0)
y_off /= 10.0;
if (fabs(x_off) < 0.5)
x_off /= 50.0;
else// if (fabs(x_off) < 1.0)
x_off /= 10.0;
#ifdef JOY_INVERT_Y
task_data.x_offset = -y_off;
#else
task_data.x_offset = y_off;
#endif
#ifdef JOY_INVERT_X
task_data.y_offset = -x_off;
#else
task_data.y_offset = x_off;
#endif
}
if( current_jog_z ) {
switch(current_jog_z) {
case (1<<JOG_Z_UP_BIT):
task_data.z_offset = 0.0003;
break;
case (1<<JOG_Z_DOWN_BIT):
task_data.z_offset = -0.0003;
break;
default:
task_data.z_offset = 0;
}
}
if( enabled || current_jog_z ) {
task_data.rate = 20000;
task_enable(TASK_MANUAL_MOVE, &task_data);
}
if( enabled ) {
//
// Trigger the next ADC conversion.
//
if (status & STATUS_CH0_IDLE)
ADCProcessorTrigger(ADC0_BASE, 0);
if (status & STATUS_CH1_IDLE)
ADCProcessorTrigger(ADC0_BASE, 1);
}
}
