void
sml_run_toplevels(void (**topfuncs)(void))
{
struct frame_stack_range dummy_range = {.top = NULL, .bottom = NULL};
struct sml_control *control = tlv_get_or_init(current_control);
if (control != NULL) {
for (; *topfuncs; topfuncs++)
(*topfuncs)();
return;
}
/* Set up a control block with a dummy stack range.
* This avoids frequent allocation and deallocation of thread local
* heap due to sml_start and sml_end called at the beginning and end
* of each top-level fragment. */
control = control_start(&dummy_range);
control_leave(control);
for (; *topfuncs; topfuncs++)
(*topfuncs)();
/* NOTE: if an uncaught exception occurs, the following code will
* not be executed. */
control_enter(control);
assert(control->frame_stack == &dummy_range);
control_destroy(control);
}
int execute_command(enum COMMAND cmd) {
switch (cmd) {
case C_AHEAD: return control_goahead(4000);
case C_GETCORNER: return control_getcorner();
case C_LEFT: return control_turnleft();
case C_RIGHT: return control_turnright();
case C_AROUND: return control_turnaround();
case C_BREAK: return control_break();
case C_START: return control_start();
case C_LETSWIN: return control_letswin();
case C_STOP:
default: return control_stop();
}
}
SML_PRIMITIVE void
sml_start(void **arg)
{
struct frame_stack_range *range = (void*)arg;
struct sml_control *control = tlv_get_or_init(current_control);
range->bottom = CALLER_FRAME_END_ADDRESS();
range->top = NULL;
if (control == NULL) {
control_start(range);
} else {
control_enter(control);
range->next = control->frame_stack;
control->frame_stack = range;
}
}
/* Main function */
int main(void) {
sc_time_t my_timer;
int32_t value;
dint();
#if USE_WATCHDOG
init_watchdog();
#else
WDTCTL = WDTCTL_INIT; //Init watchdog timer
#endif
init_ports();
init_clock();
sc_init_timer();
scandal_init();
config_read();
{volatile int i;
for(i=0; i<100; i++)
;
}
/* Below here, we assume we have a config */
/* Send out the error that we've reset -- it's not fatal obviously,
but we want to know when it happens, and it really is an error,
since something that's solar powered should be fairly constantly
powered */
scandal_do_user_err(UNSWMPPTNG_ERROR_WATCHDOG_RESET);
/* Make sure our variables are set up properly */
tracker_status = 0;
/* Initialise FPGA (or, our case, CPLD) stuff */
fpga_init();
/* Starts the ADC and control loop interrupt */
control_init();
/* Initialise the PV tracking mechanism */
pv_track_init();
eint();
my_timer = sc_get_timer();
while (1) {
sc_time_t timeval;
timeval = sc_get_timer();
handle_scandal();
/* pv_track sends data when it feels like it */
pv_track_send_data();
/* Periodically send out the values recorded by the ADC */
if(timeval >= my_timer + TELEMETRY_UPDATE_PERIOD){
my_timer = timeval;
toggle_yellow_led();
#if USE_WATCHDOG
kick_watchdog();
#endif
mpptng_do_errors();
pv_track_send_telemetry();
/* We send the Input current and voltage from
within the pvtrack module */
/* scandal_send_scaled_channel(TELEM_LOW, UNSWMPPTNG_IN_VOLTAGE,
sample_adc(MEAS_VIN1));
scandal_send_scaled_channel(TELEM_LOW, UNSWMPPTNG_IN_CURRENT,
sample_adc(MEAS_IIN1));*/
scandal_send_scaled_channel(TELEM_LOW, UNSWMPPTNG_OUT_VOLTAGE,
sample_adc(MEAS_VOUT));
scandal_send_scaled_channel(TELEM_LOW, UNSWMPPTNG_HEATSINK_TEMP,
sample_adc(MEAS_THEATSINK));
scandal_send_scaled_channel(TELEM_LOW, UNSWMPPTNG_15V,
sample_adc(MEAS_15V));
scandal_send_channel(TELEM_LOW, UNSWMPPTNG_STATUS,
tracker_status);
/* Pre-scale for the temperature */
{
int32_t degC = sample_adc(MEAS_TAMBIENT);
degC = (((degC - 1615)*704*1000)/4095);
scandal_send_scaled_channel(TELEM_LOW, UNSWMPPTNG_AMBIENT_TEMP,
degC);
}
#if DEBUG >= 1
scandal_send_channel(TELEM_LOW, 134, output);
scandal_send_channel(TELEM_LOW, 136, fpga_nFS());
#endif
}
/* If we're not tracking,
check to see that our start-up criteria are satisfied, and then
initialise the control loops and restart tracking */
if((tracker_status & STATUS_TRACKING) == 0){
/* Check the input voltage */
value = sample_adc(MEAS_VIN1);
scandal_get_scaled_value(UNSWMPPTNG_IN_VOLTAGE, &value);
if(value < config.min_vin)
continue;
/* Check the output voltage */
value = sample_adc(MEAS_VOUT);
scandal_get_scaled_value(UNSWMPPTNG_OUT_VOLTAGE, &value);
if(value > config.max_vout)
continue;
tracker_status |= STATUS_TRACKING;
/* Initialise the tracking algorithm */
// pv_track_init();
/* Reset the FPGA */
fs_reset();
/* Initialise the control loop */
control_start();
/* Enable the FPGA */
fpga_enable(FPGA_ON);
}
}
}
