void sort(void* args) {
int value = (int) args;
sleep_proc(value*5);
sem_down(insert_sem);
sorted[size] = value;
size++;
sem_up(insert_sem);
}
UNS8 GetChangeStateResults(UNS8 node_id, UNS8 expected_state, unsigned long timeout_ms)
{
unsigned long start_time = 0;
// reset nodes state
win32test_Data.NMTable[node_id] = Unknown_state;
// request node state
masterRequestNodeState(&win32test_Data, node_id);
start_time = uptime_ms_proc();
while(uptime_ms_proc() - start_time < timeout_ms)
{
if (getNodeState(&win32test_Data, node_id) == expected_state)
return 0;
sleep_proc(1);
}
return 0xFF;
}
UNS8 ReadSDO(UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, void* data, UNS8* size)
{
UNS32 abortCode = 0;
UNS8 res = SDO_UPLOAD_IN_PROGRESS;
// Read SDO
UNS8 err = readNetworkDict (&win32test_Data, nodeId, index, subIndex, dataType);
if (err)
return 0xFF;
for(;;)
{
res = getReadResultNetworkDict (&win32test_Data, nodeId, data, size, &abortCode);
if (res != SDO_UPLOAD_IN_PROGRESS)
break;
sleep_proc(1);
continue;
}
closeSDOtransfer(&win32test_Data, nodeId, SDO_CLIENT);
if (res == SDO_FINISHED)
return 0;
return 0xFF;
}
void state_machine() {
// Spend most of the time in sleep
switch (current_state) {
// LEDs off, waiting for button presses
case SLEEPING:
next_state = SLEEPING;
disp_time(DISABLE);
//TODO: Go back to sleep
sleep_proc();
break;
case IDLE:
next_state = IDLE;
if (timeout_ticks > _LED_TIMEOUT_TICKS) {
next_state = SLEEPING;
}
if (SET || MODE) next_state = WAKE;
break;
// LEDs on, waiting for timeout
case WAKE:
next_state = WAKE;
enable_pwm();
disp_on();
if (!SET && !MODE) {
next_state = IDLE;
}
if ((debouncer_test(SET_BTN) == LONG_PRESSED) &&
(debouncer_test(MODE_BTN) == LONG_PRESSED)) {
next_state = READY_TO_SET_HOURS;
}
break;
case READY_TO_SET_HOURS:
next_state = READY_TO_SET_HOURS;
last_set_state = FALSE;
flash_mins();
flash_hours();
if (!MODE && !SET) next_state = SET_HOURS;
break;
// Time set mode, pressing set will increment hours up to 24, then
// roll over, pressing mode will switch to minute set mode
case SET_HOURS:
next_state = SET_HOURS;
flash_mins();
if (debouncer_test(MODE_BTN) == DEBOUNCED) {
next_state = READY_TO_SET_MINS;
}
if (debouncer_test(SET_BTN) == DEBOUNCED) {
last_set_state = TRUE;
}
else if (debouncer_test(SET_BTN) == LONG_PRESSED) {
next_state = QUICK_HOURS_INC;
}
if ((last_set_state == TRUE) && !SET) {
last_set_state = FALSE;
++my_time.hours;
}
break;
case QUICK_HOURS_INC:
next_state = QUICK_HOURS_INC;
flash_mins();
if (!SET) next_state = SET_HOURS;
if (quick_inc) {
quick_inc = FALSE;
++my_time.hours;
}
break;
case READY_TO_SET_MINS:
next_state = READY_TO_SET_MINS;
last_set_state = FALSE;
flash_mins();
flash_hours();
if (!MODE) next_state = SET_MINS;
break;
// Time set mode, pressing set will increment minutes up to 59, then
// roll over, pressing mode will exit time set mode
case SET_MINS:
next_state = SET_MINS;
flash_hours();
if (debouncer_test(MODE_BTN) == DEBOUNCED) {
next_state = WAKE;
}
if (debouncer_test(SET_BTN) == DEBOUNCED) {
last_set_state = TRUE;
}
else if (debouncer_test(SET_BTN) == LONG_PRESSED) {
next_state = QUICK_MINS_INC;
}
if ((last_set_state == TRUE) && !SET) {
last_set_state = FALSE;
++my_time.mins;
}
break;
case QUICK_MINS_INC:
next_state = QUICK_MINS_INC;
flash_hours();
if (!SET) next_state = SET_MINS;
if (quick_inc) {
quick_inc = FALSE;
++my_time.mins;
}
break;
default:
next_state = IDLE;
break;
}
if (current_state != SLEEPING) {
test_buttons();
}
if (next_state != current_state) {
current_state = next_state;
}
}
