static void reflash_led_blinker(void *parameters)
{
(void)parameters;
while(!end_led) {
led_set_red(0); led_set_green(1);
vTaskDelay(100/portTICK_RATE_MS);
led_set_red(1); led_set_green(0);
vTaskDelay(100/portTICK_RATE_MS);
}
led_set_red(0); led_set_green(1);
while(1) { vTaskDelay(1000/portTICK_RATE_MS); }
}
//////////////////////////////////////////////////////////////////////////////
/// Inizialization. This function is called once before entering
/// main loop.
///
//////////////////////////////////////////////////////////////////////////////
void init() {
VMC_INT_16 motorID;
init_aisc167b();
init_asccom();
init_cycletime_counter();
i2c_init();
init_bioport();
if (can_init(CAN_BAUD, 0)) while(1){led_swap_green();}
led_set_green(0);
led_set_red(0);
ledseq_init();
ais_system_init();
//init_Thermic();
init_error();
init_calculatestate();
init_motorcontrol();
init_controller();
init_current_limiter();
mpwr_init();
set_default_configuration();
for (motorID = 0; motorID < 3; motorID++) {
// init_Limiter(i, 100);
init_encoder(motorID);
}
}
/* Reflash the controller flash if all of the following conditions are satisfied:
* + We have new flash content in eink_flash_content
* + The flash identification indicates our custom built controller and not the stock Epson one
* + The first 4 bytes of the existing flash content do not match eink_flash_content
*
* If this function returns a positive value then the controller was reset and the application
* should wait 5ms before proceeding; if the function returns 0, no change was done; if the
* function returns a negative value it is an error code
*/
int eink_flash_conditional_reflash(void)
{
if(sizeof(eink_flash_content) == 0) return 0;
int r = eink_flash_acquire();
if(r>=0) {
unsigned int ident = eink_flash_read_identification();
xTaskHandle led_task_handle;
#ifdef DEBUG_REFLASH
printf("Device identification: %06X\n", ident);
#endif
if( ident != 0x202016 ) { /* Only for our own flash, not the pre-assembled */
goto out_done;
}
eink_flash_read(0, flash_tmpbuf, sizeof(flash_tmpbuf));
#ifdef DEBUG_REFLASH
printf("%02X %02X %02X %02X\n", flash_tmpbuf[0], flash_tmpbuf[1], flash_tmpbuf[2], flash_tmpbuf[3]);
#endif
if(memcmp(flash_tmpbuf, eink_flash_content, sizeof(flash_tmpbuf)) != 0) {
printf("Flash content not correct, starting reflash cycle\nDO NOT POWER OFF\n");
xTaskCreate( reflash_led_blinker, (signed char*)"LED BLINKER", 128, NULL, tskIDLE_PRIORITY+1, &led_task_handle);
printf("Starting bulk erase\n");
eink_flash_write_enable();
eink_flash_bulk_erase();
printf("Done bulk erase\n");
printf("Starting programming (%i bytes)\n", sizeof(eink_flash_content));
eink_flash_program(eink_flash_content, sizeof(eink_flash_content));
printf("Done\n");
end_led = 1;
vTaskDelay(150/portTICK_RATE_MS);
vTaskDelete(led_task_handle);
led_set_red(0); led_set_green(1);
}
} else {
return r;
}
out_done:
eink_flash_release();
return 1;
}
void show_color(unsigned char dig){
switch(dig){
case 0:
led_set_yellow(POWER);
led_set_black();
led_set_black();
led_set_black();
led_set_black();
sound_start(dig);
break;
case 1:
led_set_black();
led_set_red(POWER);
led_set_black();
led_set_black();
led_set_black();
sound_start(dig);
break;
case 2:
led_set_black();
led_set_black();
led_set_green(POWER);
led_set_black();
led_set_black();
sound_start(dig);
break;
case 3:
led_set_black();
led_set_black();
led_set_black();
led_set_blue(POWER);
led_set_black();
sound_start(dig);
break;
}
}
