// ------------------------------------
// Fonction permettant d'éteindre la led verte
// ------------------------------------
void led_green_off(void)
{
P1OUT &= ~LEDG; // Mise à 0 du bit 6 du port 1
// xxxx xxxx
// TODO
//
led_green_toggle();
}
// ------------------------------------
// Fonction permettant d'allumer la led verte
// ------------------------------------
void led_green_on(void)
{
P1OUT |= LEDG; // Mise à 1 du bit 6 du port 1
// xxxx xxxx
// OR 1
// 1
led_green_toggle();
}
void test_receiver( void )
{
static uint32_t buf;
TASK_BEGIN();
while( 1 ) {
cc1k_radio_recv(&buf, sizeof(buf));
led_green_toggle();
}
TASK_END();
}
// --------------------------
// Fonction : bllth_run
// Description : ...
// Param(s) : ...
// Output : ...
// --------------------------
uint8_t bltth_parse(void)
{
uint8_t ret = 1;
char buffer[TRAME_MAX_SIZE];/* = "-v:+100,-100;"; test*/
while(1)
{
if(uart_gets_startWithAndUntil(buffer, TRAME_CAR_START, TRAME_CAR_END, TRAME_MAX_SIZE) > 0) // Si on a reçu des caracteres
{
switch(buffer[TRAME_CMD_INDEX])
{
case TRAME_CAR_VITESSE: // Type trame recue 2 vitesse des roues
{
unsigned vitesseA=0, vitesseB=0;
/* On peut réecrire la fonction atoi pour prendre que 3 caractere si tu veux, sinon comme sa c'est plus rapide que mettre en temp */
vitesseA = (buffer[TRAME_SENSA_INDEX+1]-48)*100 +(buffer[TRAME_SENSA_INDEX+2]-48)*10 + (buffer[TRAME_SENSA_INDEX+3]-48);
vitesseB = (buffer[TRAME_SENSB_INDEX+1]-48)*100 +(buffer[TRAME_SENSB_INDEX+2]-48)*10 + (buffer[TRAME_SENSB_INDEX+3]-48);
motor_setDir(buffer[TRAME_SENSA_INDEX],buffer[TRAME_SENSB_INDEX]);
motor_setSpd(vitesseA,vitesseB);
}
break;
case TRAME_CAR_AU:
TA1CCR1 = 0;
TA1CCR2 = 0;
break;
case TRAME_CAR_LED:
if(buffer[TRAME_LEDG_INDEX] == '1')
led_green_toggle();
/*else
led_green_off();
*/
if(buffer[TRAME_LEDD_INDEX]== '1')
led_red_toggle();
/*else
led_red_off();*/
break;
default:
break;
}
}
}
/* Inutile, la lecture est une tache bloquante (attente d'un caractere), on ne peut donc pas revenir sur une trame recue.
// Clear rx buffer
memset(rx_buff, ' ', sizeof(rx_buff) );
rx_buff[sizeof(rx_buff)-1] = '\0';
*/
return ret;
}
void test_radio( void )
{
static uint32_t cnt;
TASK_BEGIN();
cnt = 0;
while( 1 ) {
cc1k_radio_send(&cnt, sizeof(cnt));
cnt++;
led_green_toggle();
}
TASK_END();
}
void keyboard_task()
{
uint16_t input;
while(1)
{
input = read_inputs_image();
if(input&BUTT_0_MASK) led_green_toggle();
if(input&BUTT_1_MASK) led_red_toggle();
if(input&BUTT_2_MASK) {led_green_toggle();led_red_toggle();}
if(input&BUTT_3_MASK) {led_green_set();led_red_set();}
if(input&BUTT_4_MASK) {led_green_reset();led_red_reset();}
if(input&BUTT_5_MASK) {led_green_set();}
if(input&BUTT_6_MASK) {led_red_set();}
if(input&BUTT_7_MASK) {led_green_reset();}
if(input&BUTT_8_MASK) {led_red_reset();}
if(input&BUTT_9_MASK) {}
if(input&BUTT_F_MASK) {}
if(input&BUTT_N_MASK) {}
}
}
int main(void)
{
clock_init();
time_init();
pwm_init(0);
led_green_init();
while (1) {
time_delay_ms(500);
led_green_toggle();
}
return 0;
}
int8_t ker_led(uint8_t action)
{
switch (action){
case LED_RED_ON: led_red_on(); break;
case LED_GREEN_ON: led_green_on(); break;
case LED_YELLOW_ON: led_yellow_on(); break;
case LED_RED_OFF: led_red_off(); break;
case LED_GREEN_OFF: led_green_off(); break;
case LED_YELLOW_OFF: led_yellow_off(); break;
case LED_RED_TOGGLE: led_red_toggle(); break;
case LED_GREEN_TOGGLE: led_green_toggle(); break;
case LED_YELLOW_TOGGLE: led_yellow_toggle(); break;
}
return 0;
}
void fft_task( void )
{
static fixed imag[NFFT];
static uint16_t i = 0;
TASK_BEGIN();
while(1) {
TASK_SEM_WAIT(&data_ready);
led_red_toggle();
for(i = 0; i < NFFT; i++) {
imag[i] = 0;
}
// compute FFT from 512 samples, the routines takes 200 ms
fix_fft(processing_buf, imag, M, 0);
processing_buf = NULL;
led_green_toggle();
}
TASK_END();
}
/**
* SPI task
*/
void spi_task(void *pvParameters) {
while (1) {
if(TEST_BIT_HIGH(SSI0_SR_R, 3))
{
// Receive full
led_red_toggle();
}
if(TEST_BIT_LOW(SSI0_SR_R, 1))
{
// Send full
led_green_toggle();
}
spi_send_task();
spi_receive_task();
vTaskDelay(10);
}
}
