void button_que_update(event_queue *queue, button *b, uint8_t ev_base) {
uint8_t ev;
static queue_element qel;
ev = button_update(b);
qel.source = ev + ev_base;
if (ev!=BUTTON_NO_EVENT)
queue_send(queue, &qel);
}
void update_all_inputs(void) {
button_update();
cmps10_update_all();
gps_update();
odometer_update();
update_all_nav();
return;
}
static void button_task (__unused__ void *data)
{
button_update ();
if (button_push_event_p (BUTTON1))
{
if (mmelody_active_p (melody))
mmelody_play (melody, 0);
else
mmelody_play (melody, tune1);
}
}
void sched_update (void)
{
t1ms_cnt++;
if (t1ms_cnt == 10000)
t1ms_cnt = 0;
if (t1ms_cnt % 20 == 0) /* each 20 ms */
{
wheel_update_ticks_buffers();
}
if (t1ms_cnt % pid_interval == 0) /* motor controller update */
{
if (pid_enable)
wheel_update_pid(); /* update PID motor controller */
else
wheel_update_open_loop(); /* update open loop motor controller */
}
if (t1ms_cnt % pfbst_interval == 0) /* send $PFBST */
{
nmea_tx_status();
}
/* each 10 ms */
if (t1ms_cnt % 10 == 0) /* each 10 ms */
{
if (t1ms_cnt % 20 == 0) /* each 20 ms */
{
}
if (t1ms_cnt % 50 == 0) /* each 50 ms */
{
}
if (t1ms_cnt % 100 == 0) /* each 100 ms */
{
if (nmea_wd_timeout)
nmea_wd++; /* increase watchdog timeout */
else
nmea_wd = 0;
voltage = adc_data[0]; /* request voltage measurement */
state_update();
}
if (t1ms_cnt % 200 == 0) /* each 200 ms */
{
button_update();
led_update();
voltage_update();
}
}
}
// загрузка данных кнопки
kucode_t button_load( gui_obj_t *obj )
{
gui_button_t *const widget = (gui_button_t*)obj->widget;
pstart();
ku_avoid( obj->status != GUI_NOTLOADED );
// загружаем главное изображение, не может быть NULL
ku_avoid( widget->back_nor_name == NULL );
obj->updated = BUTTON_UD_NORM;
/*
загружаем изображение активной кнопки,
если NULL, то используется нормальное изображение
*/
if ( widget->back_mon_name )
obj->updated |= BUTTON_UD_MON; else
widget->back_mon = NULL;
/*
загружаем изображение нажатой кнопки,
если NULL, то используется нормальное изображение
*/
if ( widget->back_mdn_name )
obj->updated |= BUTTON_UD_MDN; else
widget->back_mdn = NULL;
/*
загружаем шрифт текста кнопки,
если NULL, то кнопка не будет иметь текста
*/
if ( widget->font_name )
{
obj->updated |= BUTTON_UD_FONT;
// если установлен текст кнопки..
if ( widget->caption )
obj->updated |= BUTTON_UD_CAPTION; else
widget->fontface = NULL;
} else
{
widget->font = NULL;
widget->fontface = NULL;
}
if ( button_update(obj) != KE_NONE )
KU_ERRQ_PASS();
button_ch_state(obj, BUTTON_NORM);
preturn KE_NONE;
}
int main(void) {
cli();
/* We need to use a timer to control how long our main loop iterations are.
* Experiments showed that the main loop was executing approximately every
* 3.2 milliseconds, which is too quick for the sdcard to write a block
* of data. Here we are configuring Timer1 because it is a "16-bit" timer
* which would allow us to count to values greater than (2^8)-1. For a pre-
* scale value of 64, the timer will count up to 16,000,000/64 = 250,000.
* This gives us a timer period of 250,000 ticks/sec = 4 microseconds/tick.
* Suppose we want the main loop to run 40 times per second (40 Hz), we would
* need to restart the loop when Timer1 reaches the value: 250,000/40 = 6250
* See Atmel datasheet for Mega, Section 17.11
*/
TCCR1A = 0b00000000; // Normal operation; no waveform generation by default
TCCR1B = 0b00000011; // No input capture, waveform gen; prescaler = 64
TCCR1C = 0b00000000; // No output compare
TIMSK1 = 0b00000000;
// TIMING DEBUG - Digital Pin 4
DDRG |= (1 << 5);
char msg[64];
if (button_init() &&
uwrite_init() &&
cmps10_init() &&
sdcard_init()) {
uwrite_print_buff("All systems go!\r\n");
return 0;
} else {
uwrite_print_buff("There was an error during init\r\n");
return 1;
}
memset(msg, 0, sizeof(msg));
memset(&statevars, 0, sizeof(statevars));
statevars.prefix = 0xDADAFEED;
statevars.suffix = 0xCAFEBABE;
uint32_t iterations = 0;
sei();
TIMSK1 = 0b00000001;
while (1) {
// TIMING DEBUG FOR OSCILLOSCOPE
PORTG |= (1 << 5);
TCNT1 = 0;
button_update();
cmps10_update_all();
statevars.main_loop_counter = iterations;
mainloop_timer_overflow = 0;
// TIMING DEBUG FOR OSCILLOSCOPE
PORTG &= (0 << 5);
if (button_is_pressed()) {
uwrite_print_buff("The button is pressed! The LED should be on.\r\n");
led_turn_on();
statevars.mission_started = 1;
} else {
led_turn_off();
statevars.mission_started = 0;
}
snprintf(msg, sizeof(msg),
"Heading: %u Pitch: %d Roll: %hhd\r\n",
cmps10_heading, cmps10_pitch, cmps10_roll);
// Needed to cast these values to display negative pitch and roll values
//(int8_t) statevars.heading_raw, (int8_t) statevars.pitch_deg, (int8_t) statevars.roll_deg);
uwrite_print_buff(msg);
sdcard_write_data();
iterations++;
if (iterations > 256) {
uwrite_print_buff("Finished collecting data!\r\n");
break;
}
/* Ensure that the main loop period is as long as we want it to be.
* This means (1) triggering the main loop to restart we notice it is
* running too long, and (2) performing busy waiting if the instructions
* above finish before the desired loop duration.
*/
while (1) {
if (mainloop_timer_overflow) {
break;
}
if (TCNT1 >= MAINLOOP_PERIOD_TICKS) {
break;
}
}
}
return 0;
}
void button_init(void)
{
PB_PULL_UP (PORTD, PD7); /* enable pull-up resistor */
button_update();
}
