/* **************************************************************************************
* void mc_state_lcd_poll(struct ETMCVAR* petmcvar);
* @brief : Output LCD data
* @param : petmcvar = pointer to variables in etmc0
* ************************************************************************************** */
void mc_state_lcd_poll(struct ETMCVAR* petmcvar)
{
char lcdLine[LCDLINESIZE + 1];
if (((int) (DTWTIME - t_lcd)) > 0)
{
t_lcd += LCDPACE;
snprintf(lcdLine, 21, "State %4d", statevar.state);
lcd_printToLine(UARTLCD, 0, lcdLine);
xprintf(UXPRT,"%s ",lcdLine);
snprintf(lcdLine, 21, "Dsrd Tension: %5.2f", (double) statevar.setptTension);
lcd_printToLine(UARTLCD, 1, lcdLine);
xprintf(UXPRT,"%s ",lcdLine);
snprintf(lcdLine, 21, "Time: %d", (int) petmcvar->unixtime);
lcd_printToLine(UARTLCD, 2, lcdLine);
xprintf(UXPRT,"%s ",lcdLine);
snprintf(lcdLine, 21, "Control Lvr: %7.3f", (double) calib_control_lever_get());
lcd_printToLine(UARTLCD, 3, lcdLine);
xprintf(UXPRT,"%s \n\r",lcdLine);
}
return;
}
void calib_control_lever(struct ETMCVAR* petmcvar)
{
int clcalstate = 0; // state for control lever intial calibration
int i; // loop counter
int adc_tmp;
unsigned int t_led = DTWTIME + FLASHCOUNT; // initial t_led
char vv[128];
int ledCount = 0;
int cycleCount = 1;
#define ledPatternLength 32
#define ledLag 3
// led test pattern with extension to effect circular behavior
u32 ledTestPattern[] =
{
0xffff,
0xffff,
0x0000,
0x0000,
0x0000,
0x0000,
0xffff,
0xffff,
0x0000,
0x0000,
0x0000,
0x0000,
LED_SAFE,
LED_PREP,
LED_ARM,
LED_STOP,
LED_GNDRLRTN,
LED_RAMP,
LED_CLIMB,
LED_ABORT,
LED_RECOVERY,
LED_PREP,
LED_RETRIEVE,
LED_SAFE,
LED_ARM_PB,
LED_PREP_PB,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xffff,
0xffff,
0x0000,
0x0000,
0x0000,
0x0000
};
if (GPIOB_IDR & (1 << 1)) // test for physical or glass CP
{ // physical CP
xprintf (UXPRT,"\nBegin control lever calibration\n\r");
// dummy read of SPI switches to deal with false 0000 initially returned
spi2_rw(petmcvar->spi_ledout, petmcvar->spi_swin, SPI2SIZE);
while(clcalstate < 6)
{
if (((int)(DTWTIME - t_led)) > 0) // Has the time expired?
{ // Time expired
// read filtered control lever adc last value and update min and max values
adc_tmp = adc_last_filtered[CL_ADC_CHANNEL];
cloffset = (cloffset < adc_tmp) ? cloffset : adc_tmp;
clmax = (clmax > adc_tmp) ? clmax : adc_tmp;
// Read SPI switches
// get most current switch positions
// Not sure why
/*if (spi2_busy() != 0) // Is SPI2 busy?
{ // SPI completed
spi2_rw(petmcvar->spi_ledout, petmcvar->spi_swin, SPI2SIZE); // Send/rcv SPI2SIZE bytes
// convert to a binary word for comparisons (not general for different SPI2SIZE)
sw = (((int) petmcvar->spi_swin[0]) << 8) | (int) petmcvar->spi_swin[1];
//sw = petmcvar->spi_swin; */
// usage of spi2rw() is bad. Should wait for not busy after starting it.
if (spi2_busy() != 0) // Is SPI2 busy?
{ // Here, no.
u32 tmp = petmcvar->cp_outputs;
for (i = SPI2SIZE - 1; i >= 0; i--)
{
petmcvar->spi_ledout[i] = (char) tmp;
tmp >>= 8;
}
petmcvar->cp_inputs = (((int) petmcvar->spi_swin[0]) << 8) | (int) petmcvar->spi_swin[1];
spi2_rw(petmcvar->spi_ledout, petmcvar->spi_swin, SPI2SIZE);
xprintf(UXPRT, "%5u %5d %8x \n\r", clcalstate, adc_tmp, petmcvar->cp_inputs);
petmcvar->cp_outputs = 0;
if ((clcalstate == 1) || (clcalstate == 2))
{
// LEDs chasing their tails
for (i = 0; i < ledLag; i++)
{
petmcvar->cp_outputs |= ledTestPattern[ledCount + i];
}
}
switch(clcalstate)
{
case 0: // entry state
{
sprintf(vv, "Cycle control lever");
lcd_printToLine(UARTLCD, 0, vv);
sprintf(vv, "twice:");
lcd_printToLine(UARTLCD, 1, vv);
double_beep();
clcalstate = 1;
}
case 1: // waiting for CL to rest position
{
if (petmcvar->cp_inputs & CLREST) break;
clcalstate = 2;
cloffset = clmax = adc_tmp; // reset min and max values
sprintf(vv, "twice: 0");
lcd_printToLine(UARTLCD, 1, vv);
break;
}
case 2: // waiting for full scale position first time
{
if (petmcvar->cp_inputs & CLFS) break ;
clcalstate = 3;
sprintf(vv, "twice: 0.5");
lcd_printToLine(UARTLCD, 1, vv);
break;
}
case 3: // wating for return to rest first time
{
if (petmcvar->cp_inputs & CLREST) break;
clcalstate = 4;
// clcalstate = 6; // only requires 1 cycle
sprintf(vv, "twice: 1 ");
lcd_printToLine(UARTLCD, 1, vv);
single_beep();
break;
}
case 4: // waiting for full scale second time
{
if (petmcvar->cp_inputs & CLFS) break;
clcalstate = 5;
sprintf(vv, "twice: 1.5");
lcd_printToLine(UARTLCD, 1, vv);
break;
}
case 5: // waiting for return to rest second time
{
if (petmcvar->cp_inputs & CLREST) break;
single_beep();
clcalstate = 6;
}
}
}
toggle_4leds(); // Advance some LED pattern
ledCount++;
if (ledCount >= ledPatternLength)
{
ledCount = 0;
}
t_led += FLASHCOUNT; // Set next toggle time
}