void APP_Run(void) {
Init();
SendString((unsigned char*) "Hello World\r\n", &uartData);
DataFrameRxFlg = FALSE;
DataFrameTxFlg = FALSE;
for (;;) {
while (CAN_RxBuff_NofElements()) {
unsigned char ch;
//receive frame (buffer 0)
CAN_RxBuff_Get(&ch);
SendString((unsigned char*) "echo: ", &uartData);
SendChar(ch, &uartData);
SendString((unsigned char*) "\r\n", &uartData);
}
GREENLED_NegVal(GREENLED_DeviceData);
// Wait counter reset
TU1_ResetCounter(TU1_DeviceData);
// wait 500 ticks (aaprox 0.5s)
while (TU1_GetCounterValue(TU1_DeviceData) < 500) {
};
}
}
void US_EventEchoCapture(LDD_TUserData *UserDataPtr){
US_DeviceType *ptr = (US_DeviceType*)UserDataPtr;
if (ptr->state==ECHO_TRIGGERED) { /* 1st edge, this is the raising edge, start measurement */
//LED_SetVal();
TU1_ResetCounter(ptr->echoDevice);
ptr->state = ECHO_MEASURE;
} else if (ptr->state==ECHO_MEASURE) { /* 2nd edge, this is the falling edge: use measurement */
(void)TU1_GetCaptureValue(ptr->echoDevice, 0, &ptr->capture);
ptr->state = ECHO_FINISHED;
}
}
static void REF_MeasureRaw(SensorTimeType raw[NOF_SENSORS]) {
uint8_t cnt; /* number of sensor */
uint8_t i;
TMOUT1_CounterHandle timeout;
FRTOS1_xSemaphoreTake(mutexHandle, portMAX_DELAY);
if (ledON) {
LED_IR_On(); /* IR LED's on */
WAIT1_Waitus(200);
}
for(i=0;i<NOF_SENSORS;i++) {
SensorFctArray[i].SetOutput(); /* turn I/O line as output */
SensorFctArray[i].SetVal(); /* put high */
raw[i] = MAX_SENSOR_VALUE;
}
WAIT1_Waitus(20); /* give at least 10 us to charge the capacitor */
timeout = TMOUT1_GetCounter(20/TMOUT1_TICK_PERIOD_MS); /* set up timeout counter */
FRTOS1_vTaskSuspendAll();
(void)TU1_ResetCounter(timerHandle); /* reset timer counter */
for(i=0;i<NOF_SENSORS;i++) {
SensorFctArray[i].SetInput(); /* turn I/O line as input */
}
do {
cnt = 0;
if (TMOUT1_CounterExpired(timeout)) {
break; /* get out of wile loop */
}
for(i=0;i<NOF_SENSORS;i++) {
if (raw[i]==MAX_SENSOR_VALUE) { /* not measured yet? */
if (SensorFctArray[i].GetVal()==0) {
raw[i] = TU1_GetCounterValue(timerHandle);
}
} else { /* have value */
cnt++;
}
}
} while(cnt!=NOF_SENSORS);
TMOUT1_LeaveCounter(timeout);
FRTOS1_xTaskResumeAll();
if (ledON) {
LED_IR_Off(); /* IR LED's off */
WAIT1_Waitus(200);
}
FRTOS1_xSemaphoreGive(mutexHandle);
}
/* ===================================================================*/
LDD_TError FC1_ResetCounter(LDD_TUserData *DeviceDataPtr)
{
FC1_TDeviceData *DeviceDataPrv = (FC1_TDeviceData *)DeviceDataPtr;
return TU1_ResetCounter(DeviceDataPrv->LinkedDeviceDataPtr); /* Reset counter register */
}
