uint8_t I2C_GetRunnerMessage(char *buf, size_t bufSize) {
if (I2C_RunnerQueue==NULL || bufSize<I2C_RUNNER_I2C_MSG_SIZE) {
return ERR_FAILED;
}
if (FRTOS1_xQueueReceive(I2C_RunnerQueue, buf, 0)==pdPASS) { /* non blocking queue receive */
return ERR_OK;
}
return ERR_RXEMPTY;
}
unsigned char SQUEUE_ReceiveChar(void) {
unsigned char ch;
portBASE_TYPE res;
res = FRTOS1_xQueueReceive(SQUEUE_Queue, &ch, 0);
if(res == errQUEUE_EMPTY){
return '\0';
} else {
return ch;
}
}
unsigned char QUEUE_ReceiveChar(xQueueHandle queue) {
unsigned char ch;
portBASE_TYPE res;
res = FRTOS1_xQueueReceive(queue, &ch, 0);
if (res==errQUEUE_EMPTY) {
return '\0';
} else {
return ch;
}
}
const unsigned char *SQUEUE_ReceiveMessage(void) {
const unsigned char *ptr;
portBASE_TYPE res;
res = FRTOS1_xQueueReceive(SQUEUE_Queue, &ptr, 0);
if (res==errQUEUE_EMPTY) {
return NULL;
} else {
return ptr;
}
}
/*! \brief Radio application state machine */
void RADIO_Handle(void) {
//uint8_t buf[RADIO_QUEUE_ITEM_SIZE];
if (RADIO_isOn) {
RADIO_HandleState(); /* advance state machine */
}
#if 0
/* poll radio message queue */
if (FRTOS1_xQueueReceive(RADIO_MsgQueue, buf, 0)==pdPASS) {
/* received message from queue */
RADIO_HandleMessage(buf);
}
#endif
}
static uint8_t GetCmd(void) {
DRV_Command cmd;
portBASE_TYPE res;
res = FRTOS1_xQueueReceive(DRV_Queue, &cmd, 0);
if (res==errQUEUE_EMPTY) {
return ERR_RXEMPTY; /* no command */
}
/* process command */
FRTOS1_taskENTER_CRITICAL();
if (cmd.cmd==DRV_SET_MODE) {
PID_Start(); /* reset PID, especially integral counters */
DRV_Status.mode = cmd.u.mode;
} else if (cmd.cmd==DRV_SET_SPEED) {
DRV_Status.speed.left = cmd.u.speed.left;
DRV_Status.speed.right = cmd.u.speed.right;
} else if (cmd.cmd==DRV_SET_POS) {
DRV_Status.pos.left = cmd.u.pos.left;
DRV_Status.pos.right = cmd.u.pos.right;
}
FRTOS1_taskEXIT_CRITICAL();
return ERR_OK;
}
