static void MOTtask(void *pvParameters) {
int commsStatsCount = commStatsSecs;
int initReply = 0;
bool initialized = false;
//start subsystem tasks
initReply += SysLogInit();
initReply += PubSubInit();
initReply += NotificationsInit();
initReply += UARTBrokerInit();
initReply += PidInit(); //Controls the motor PWM
initReply += EncoderInit(); //Measures motor speed
//initReply += AmpsInit(); //Measures motor current
while ((motQueue = psNewPubSubQueue(MOT_TASK_QUEUE_LENGTH)) == NULL) {
SetCondition(MOT_INIT_ERROR);
LogError( "Motor Task Q");
initReply = -1;
}
if (initReply < 0) {
SetCondition(MOT_INIT_ERROR);
DebugPrint("MOT Init Error");
while (1) {
vTaskDelay(100);
PORTToggleBits(USER_LED_IOPORT, USER_LED_BIT);
}
}
CancelCondition(MOT_INIT_ERROR);
CancelCondition(MOTORS_INHIBIT);
CancelCondition(MOTORS_BUSY);
CancelCondition(MOT_ANALOG_ERROR);
CancelCondition(MOTORS_ERRORS);
CancelCondition(MOT_MCP_COMMS_ERRORS);
CancelCondition(MOT_MCP_COMMS_CONGESTION);
{
psMessage_t msg;
psInitPublish(msg, SS_ONLINE);
strcpy(msg.responsePayload.subsystem, "MOT");
msg.responsePayload.flags = RESPONSE_FIRST_TIME;
psSendMessage(msg);
}
DebugPrint("MOT Up");
for (;;) {
//wait for a message
if (xQueueReceive(motQueue, &motRxMsg, portMAX_DELAY) == pdTRUE) {
switch (motRxMsg.header.messageType) {
case TICK_1S:
powerState = motRxMsg.tickPayload.systemPowerState;
if (--commsStatsCount <= 0) {
commsStatsCount = commStatsSecs;
if (commStats) {
UARTSendStats();
} else {
UARTResetStats();
}
}
break;
case CONFIG:
if (motRxMsg.configPayload.responder == MOTOR_SUBSYSTEM) {
DebugPrint("Config message received");
int requestor = motRxMsg.configPayload.requestor;
configCount = 0;
#define optionmacro(name, var, minV, maxV, def) SendOptionConfig(name, &var, minV, maxV, requestor);
#include "Options.h"
#undef optionmacro
#define settingmacro(name, var, minV, maxV, def) SendSettingConfig(name, &var, minV, maxV, requestor);
#include "Settings.h"
#undef settingmacro
//report Config done
psInitPublish(motRxMsg, CONFIG_DONE);
motRxMsg.configPayload.requestor = requestor;
motRxMsg.configPayload.responder = MOTOR_SUBSYSTEM;
motRxMsg.configPayload.count = configCount;
psSendMessage(motRxMsg);
DebugPrint("Config sent");
}
break;
case SET_OPTION: //option change
DebugPrint("New Option %s = %i", motRxMsg.optionPayload.name, motRxMsg.optionPayload.value);
#define optionmacro(n, var, minV, maxV, def) SetOption(&motRxMsg, n, &var, minV, maxV);
#include "Options.h"
#undef optionmacro
break;
case NEW_SETTING: //setting change
DebugPrint("New Setting %s = %f", motRxMsg.settingPayload.name, motRxMsg.settingPayload.value);
#define settingmacro(n, var, minV, maxV, def) NewSetting(&motRxMsg, n, &var, minV, maxV);
#include "Settings.h"
#undef settingmacro
break;
case PING_MSG:
{
psMessage_t msg2;
DebugPrint("Ping Msg");
// PORTToggleBits(USER_LED_IOPORT, USER_LED_BIT);
psInitPublish(msg2, PING_RESPONSE)
strncpy(msg2.responsePayload.subsystem, "MOT", 3);
msg2.responsePayload.flags = (initialized ? 0 : RESPONSE_FIRST_TIME);
msg2.responsePayload.requestor = motRxMsg.requestPayload.requestor;
psSendMessage(msg2);
}
break;
case GEN_STATS:
DebugPrint("Send Stats\n");
GenerateRunTimeTaskStats();
GenerateRunTimeSystemStats();
break;
default:
break;
}
}
}
}
RET_MAIN main(void)
{
#ifdef MTOUCH_DEBUG
DEBUGDELAY* pDelay;
#endif
// Board hardware initialization.
SysBoardInit();
// STEP 1
// mTouch library initialization.
MTouchInit();
// STEP 2
// Sensors initialization. All sensors must be initialized (see MTOUCH_SENSORS_NUMBER in mTouchConfig.h).
// PLEASE READ "SENSOR OPTIMIZATION (DEBUG MODULE)" CHAPTER IN THE HELP FILE TO SELECT OPTIMAL PARAMETERS.
// For example if sensor is connected to RB1/AN2 pin
// MTouchSetSensor(0, // sensor number
// &TRISB, // port B
// &LATB,
// 1, // IO bit number
// 2, // analog channel number
// -1, // press detection threshold by default (see MTOUCH_DEFAULT_THRESHOLD in mTouchConfig.h)
// -1, // oversampling by default (see MTOUCH_DEFAULT_OVERSAMPLING in mTouchConfig.h)
// -1 ); // CTMU charge delay by default (see MTOUCH_DEFAULT_CHARGE_DELAY in mTouchConfig.h, not used for CVD acquisition)
// sensor #0
MTouchSetSensor(0, CH0_TRIS, CH0_LAT, CH0_IO_BIT, CH0_AN_NUM, -1, -1, -1);
// sensor #1
MTouchSetSensor(1, CH1_TRIS, CH1_LAT, CH1_IO_BIT, CH1_AN_NUM, -1, -1, -1);
#ifdef MTOUCH_DEBUG
// Debug log initialization (allows streaming data to PC GUI). PC GUI helps to
// choose right values for sensors' oversampling factors and thresholds.
SysLogInit();
// MTouchDebugDelay(sensorNumber) function calculates CTMU charge delay value
// to provide charging sensor about 75% of AVdd.
pDelay = MTouchDebugDelay(0);
// Set adjusted CTMU charge delay value for the sensor.
MTouchSetChargeDelay(0, pDelay->delay);
pDelay = MTouchDebugDelay(1);
MTouchSetChargeDelay(1, pDelay->delay);
#endif
// STEP 3
// Slider initialization. All sliders must be initialized (see MTOUCH_2CHSLIDERS_NUMBER in mTouchConfig.h).
// For example if slider is connected to sensor 5 and sensor 11
// MTouchSet2ChSlider(0, // slider number
// 5, // first sensor number
// 11); // second sensor number
// slider #0
MTouchSet2ChSlider(0, 0, 1);
// STEP 4
// Timer interrupt initialization to call mTouch acquisition pereodically.
SysTimerInit();
while(1)
{
// STEP 5
// Decode all controls.
MTouchDecode();
// STEP 6
// Get current value of the slider.
if(MTouchGet2ChSliderState(0) == CONTROL_PRESSED)
{
Led_ALLOff();
if(MTouchGet2ChSliderValue(0) > 15*1000/16) {
Led15On();
}
else if(MTouchGet2ChSliderValue(0) > 14*1000/16) {
Led14On();
}
else if(MTouchGet2ChSliderValue(0) > 13*1000/16) {
Led13On();
}
else if(MTouchGet2ChSliderValue(0) > 12*1000/16) {
Led12On();
}
else if(MTouchGet2ChSliderValue(0) > 11*1000/16) {
Led11On();
}
else if(MTouchGet2ChSliderValue(0) > 10*1000/16) {
Led10On();
}
else if(MTouchGet2ChSliderValue(0) > 9*1000/16) {
Led9On();
}
else if(MTouchGet2ChSliderValue(0) > 8*1000/16) {
Led8On();
}
else if(MTouchGet2ChSliderValue(0) > 7*1000/16) {
Led7On();
}
else if(MTouchGet2ChSliderValue(0) > 6*1000/16) {
Led6On();
}
else if(MTouchGet2ChSliderValue(0) > 5*1000/16) {
Led5On();
}
else if(MTouchGet2ChSliderValue(0) > 4*1000/16) {
Led4On();
}
else if(MTouchGet2ChSliderValue(0) > 3*1000/16) {
Led3On();
}
else if(MTouchGet2ChSliderValue(0) > 2*1000/16) {
Led2On();
}
else if(MTouchGet2ChSliderValue(0) > 1*1000/16) {
Led1On();
}
else if(MTouchGet2ChSliderValue(0) > 0) {
Led0On();
}
}
#ifdef MTOUCH_DEBUG
// Log data from sensors to PC GUI.
MTouchDebugLogDeltas();
#endif
}
}
RET_MAIN main(void)
{
#ifdef MTOUCH_DEBUG
DEBUGDELAY* pDelay;
#endif
// Board hardware initialization.
SysBoardInit();
// STEP 1
// mTouch library initialization.
MTouchInit();
// STEP 2
// Sensors initialization. All sensors must be initialized (see MTOUCH_SENSORS_NUMBER in mTouchConfig.h).
// PLEASE READ "SENSOR OPTIMIZATION (DEBUG MODULE)" CHAPTER IN THE HELP FILE TO SELECT OPTIMAL PARAMETERS.
// For example if sensor is connected to RB1/AN2 pin
// MTouchSetSensor(0, // sensor number
// &TRISB, // port B
// &LATB,
// 1, // IO bit number
// 2, // analog channel number
// -1, // press detection threshold by default (see MTOUCH_DEFAULT_THRESHOLD in mTouchConfig.h)
// -1, // oversampling by default (see MTOUCH_DEFAULT_OVERSAMPLING in mTouchConfig.h)
// -1 ); // CTMU charge delay by default (see MTOUCH_DEFAULT_CHARGE_DELAY in mTouchConfig.h, not used for CVD acquisition)
// sensor #0
MTouchSetSensor(0, CH0_TRIS, CH0_LAT, CH0_IO_BIT, CH0_AN_NUM, -1, -1, -1);
// sensor #1
MTouchSetSensor(1, CH1_TRIS, CH1_LAT, CH1_IO_BIT, CH1_AN_NUM, -1, -1, -1);
// sensor #2
MTouchSetSensor(2, CH2_TRIS, CH2_LAT, CH2_IO_BIT, CH2_AN_NUM, -1, -1, -1);
// sensor #3
MTouchSetSensor(3, CH3_TRIS, CH3_LAT, CH3_IO_BIT, CH3_AN_NUM, -1, -1, -1);
// sensor #4
MTouchSetSensor(4, CH4_TRIS, CH4_LAT, CH4_IO_BIT, CH4_AN_NUM, -1, -1, -1);
// sensor #5
MTouchSetSensor(5, CH5_TRIS, CH5_LAT, CH5_IO_BIT, CH5_AN_NUM, -1, -1, -1);
// sensor #6
MTouchSetSensor(6, CH6_TRIS, CH6_LAT, CH6_IO_BIT, CH6_AN_NUM, -1, -1, -1);
// sensor #7
MTouchSetSensor(7, CH7_TRIS, CH7_LAT, CH7_IO_BIT, CH7_AN_NUM, -1, -1, -1);
#ifdef MTOUCH_DEBUG
// Debug log initialization (allows streaming data to PC GUI). PC GUI helps to
// choose right values for sensors' oversampling factors and thresholds.
SysLogInit();
// MTouchDebugDelay(sensorNumber) function calculates an optimal CTMU charge delay value
// to provide charging sensor about 75% of AVdd.
pDelay = MTouchDebugDelay(0);
// Set the adjusted optimal CTMU charge delay value for the sensor.
MTouchSetChargeDelay(0, pDelay->delay);
pDelay = MTouchDebugDelay(1);
MTouchSetChargeDelay(1, pDelay->delay);
pDelay = MTouchDebugDelay(2);
MTouchSetChargeDelay(2, pDelay->delay);
pDelay = MTouchDebugDelay(3);
MTouchSetChargeDelay(3, pDelay->delay);
pDelay = MTouchDebugDelay(4);
MTouchSetChargeDelay(4, pDelay->delay);
pDelay = MTouchDebugDelay(5);
MTouchSetChargeDelay(5, pDelay->delay);
pDelay = MTouchDebugDelay(6);
MTouchSetChargeDelay(6, pDelay->delay);
pDelay = MTouchDebugDelay(7);
MTouchSetChargeDelay(7, pDelay->delay);
#endif
// STEP 3
// Timer interrupt initialization to call mTouch acquisition pereodically.
SysTimerInit();
while(1)
{
// STEP 4
// Get current states of the basic buttons.
Led_ALLOff();
// button #0
if(MTouchGetSensorState(0) == SENSOR_PRESSED) { Led0On(); }
// button #1
if(MTouchGetSensorState(1) == SENSOR_PRESSED) { Led1On(); }
// button #2
if(MTouchGetSensorState(2) == SENSOR_PRESSED) { Led2On(); }
// button #3
if(MTouchGetSensorState(3) == SENSOR_PRESSED) { Led3On(); }
// button #4
if(MTouchGetSensorState(4) == SENSOR_PRESSED) { Led4On(); }
// button #5
if(MTouchGetSensorState(5) == SENSOR_PRESSED) { Led5On(); }
// button #6
if(MTouchGetSensorState(6) == SENSOR_PRESSED) { Led6On(); }
// button #7
if(MTouchGetSensorState(7) == SENSOR_PRESSED) { Led7On(); }
#ifdef MTOUCH_DEBUG
// Log data from sensors to PC GUI.
MTouchDebugLogDeltas();
#endif
}
}
