void switch_server() {
server_tid = MyTid();
switches_init();
// Find the location server.
tid_t location_server_tid = -2;
do {
location_server_tid = WhoIs("LocationServer");
dlog("Location Server Tid %d\n", location_server_tid);
} while (location_server_tid < 0);
tid_t tid;
SwitchServerMessage msg, reply;
while (1) {
Receive(&tid, (char *) &msg, sizeof(msg));
switch (msg.type) {
case SET_SWITCH:
reply.type = SET_SWITCH_RESPONSE;
Reply(tid, (char *) &reply, sizeof(reply));
switch_set(msg.switch_no, msg.direction, location_server_tid);
break;
default:
break;
}
}
}
int main(void)
{
adc_init();
spi_init();
switches_init();
encoders_init();
for (;;)
{
// Check the SS pin, if it is low, send the data through SPI.
if (spi_slave_selected())
{
spi_enable();
for (uint8_t i=0; i<ENCODER_COUNT; ++i)
{
spi_transfer16(g_encoderValues[i]);
}
spi_transfer8(g_downMask);
spi_disable();
}
switches_update();
encoders_update();
}
}
int main(void)
{
unsigned int switchPressed;
debug_init(SOFTWARE_NAME);
PIO_InitializeInterrupts(AT91C_AIC_PRIOR_LOWEST);
switches_init();
char_display_init();
LED_Configure(0);
LED_Configure(1);
if (! BCAN_Init(1000, 0, NULL)) {
printf("INIT FAIL");
LED_Set(1);
return 1;
}
printf("INIT OK\n\r");
LED_Set(0);
BCAN_InitMailboxRegisters( 0, 1, 0x0, (0x5AC << 18), AT91C_CAN_MOT_TX, 0x0);
while(1) {
DisplayMenu();
switchPressed = -1;
while (switchPressed == -1) {
if (switches_pressed(0)) {
TRACE_INFO("Switch 0 is pressed\n\r");
switchPressed = 0;
} else if (switches_pressed(1)) {
TRACE_INFO("Switch 1 is pressed\n\r");
switchPressed = 1;
} else if (switches_pressed(2)) {
TRACE_INFO("Switch 2 is pressed\n\r");
switchPressed = 2;
} else if (switches_pressed(3)) {
TRACE_INFO("Switch 3 is pressed\n\r");
switchPressed = 3;
} else {
//TRACE_INFO("No Switch is pressed\n\r");
}
char_display_tick();
for (volatile unsigned int i = 0xFF; i > 0; i--) ;
}
unsigned int result = -1;
while (result != CAN_STATUS_SUCCESS) {
result = BCAN_Write(0, 1, 0, switchPressed, 0x1);
}
char_display_number(switchPressed);
}
return 0;
}
static int __init init_switches_dev(void)
{
switches_init();
cdev_init(&switches_cdev, &switches_fops);
switches_cdev.owner = THIS_MODULE;
if (cdev_add(&switches_cdev, dev_num, 1) < 0) {
printk(KERN_ALERT "*** cdev_add for switches device failed ***\n");
return -1;
}
return 0;
}
//Runs a test of the switches
//switches_read() will run until all switches are in the UP position.
//Masking is used to determine which switches are in the UP position.
//When all switches are on the on position, the LED's are turned off.
void switches_runTest()
{
switches_init();
u32 read = switches_read();
while(read != HEX_F)
{
read = switches_read();
char result = read & HEX_F;
leds_write(result);
}
leds_write(0);
}
void switches_runTest()
{
//initialize the LEDS
leds_init(0);
//initalize the switches, aka turn off tristate
switches_init();
int32_t switchValue = 0;
//while not all the swtiches are up, continue to test
//we mask the switchValue with all switches so we just see those bits
while ((switchValue & SWITCHES_ALL_SWITCHES_ON) != SWITCHES_ALL_SWITCHES_ON)
{
switchValue = switches_read();
//if switch0, led 0 on
if ((switchValue & SWITCHES_SW0) == SWITCHES_SW0)
{
leds_write(SWITCHES_SW0); // this might cause problem, because it specifically turns off the other LEDS
}
//if switch1, led 1 on
if ((switchValue & SWITCHES_SW1) == SWITCHES_SW1)
{
leds_write(SWITCHES_SW1); // this might cause problem, because it specifically turns off the other LEDS
}
//if switch2, led 2 on
if ((switchValue & SWITCHES_SW2) == SWITCHES_SW2)
{
leds_write(SWITCHES_SW2); // this might cause problem, because it specifically turns off the other LEDS
}
//if switch3, led 3 on
if ((switchValue & SWITCHES_SW3) == SWITCHES_SW3)
{
leds_write(SWITCHES_SW3); // this might cause problem, because it specifically turns off the other LEDS
}
else //no LEDS on
{
//when we put a switch down, turn off that LED
leds_write(0);
}
}
//turn off all LEDS, test is over
leds_write(0);
}
