//
// RL_Init: C
//
// Initialize the REBOL interpreter.
//
// Returns:
// Zero on success, otherwise an error indicating that the
// host library is not compatible with this release.
// Arguments:
// rargs - REBOL command line args and options structure.
// See the host-args.c module for details.
// lib - the host lib (OS_ functions) to be used by REBOL.
// See host-lib.c for details.
// Notes:
// This function will allocate and initialize all memory
// structures used by the REBOL interpreter. This is an
// extensive process that takes time.
//
RL_API int RL_Init(REBARGS *rargs, void *lib)
{
int marker;
REBUPT bounds;
const char *env_legacy = NULL;
Host_Lib = cast(REBOL_HOST_LIB *, lib);
if (Host_Lib->size < HOST_LIB_SIZE) return 1;
if (((HOST_LIB_VER << 16) + HOST_LIB_SUM) != Host_Lib->ver_sum) return 2;
bounds = (REBUPT)OS_CONFIG(1, 0);
if (bounds == 0) bounds = (REBUPT)STACK_BOUNDS;
#ifdef OS_STACK_GROWS_UP
Stack_Limit = (REBUPT)(&marker) + bounds;
#else
if (bounds > (REBUPT) &marker) Stack_Limit = 100;
else Stack_Limit = (REBUPT)&marker - bounds;
#endif
Init_Core(rargs);
GC_Active = TRUE; // Turn on GC
if (rargs->options & RO_TRACE) {
Trace_Level = 9999;
Trace_Flags = 1;
}
return 0;
}
*/ RL_API int RL_Init(REBARGS *rargs, void *lib)
/*
** Initialize the REBOL interpreter.
**
** Returns:
** Zero on success, otherwise an error indicating that the
** host library is not compatible with this release.
** Arguments:
** rargs - REBOL command line args and options structure.
** See the host-args.c module for details.
** lib - the host lib (OS_ functions) to be used by REBOL.
** See host-lib.c for details.
** Notes:
** This function will allocate and initialize all memory
** structures used by the REBOL interpreter. This is an
** extensive process that takes time.
**
***********************************************************************/
{
int marker;
REBUPT bounds;
const char *env_legacy = NULL;
Host_Lib = cast(REBOL_HOST_LIB *, lib);
if (Host_Lib->size < HOST_LIB_SIZE) return 1;
if (((HOST_LIB_VER << 16) + HOST_LIB_SUM) != Host_Lib->ver_sum) return 2;
bounds = (REBUPT)OS_CONFIG(1, 0);
if (bounds == 0) bounds = (REBUPT)STACK_BOUNDS;
#ifdef OS_STACK_GROWS_UP
Stack_Limit = (REBUPT)(&marker) + bounds;
#else
if (bounds > (REBUPT) &marker) Stack_Limit = 100;
else Stack_Limit = (REBUPT)&marker - bounds;
#endif
Init_Core(rargs);
GC_Active = TRUE; // Turn on GC
if (rargs->options & RO_TRACE) {
Trace_Level = 9999;
Trace_Flags = 1;
}
return 0;
}
/**
* @details Where all the magic happens
* @return Shouldn't return
*/
int main(void) {
Init_Core();
Init_SM();
Init_Board();
Init_Globals();
Init_CAN();
Init_Timers();
// ------------------------------------------------
// Begin
DEBUG_Print("Started Up\r\n");
while(1) {
uint8_t count;
if ((count = Chip_UART_Read(LPC_USART, Rx_Buf, UART_RX_BUF_SIZE)) != 0) {
switch (Rx_Buf[0]) {
case 'a': // Print out Brusa Mains Info
DEBUG_Print("Actual Mains Voltage: ");
itoa(brusa_actual_1.mains_mVolts, str, 10);
DEBUG_Print(str);
DEBUG_Print("\r\n");
DEBUG_Print("Mains type: ");
itoa(brusa_actual_1.mains_cAmps, str, 10);
DEBUG_Print(str);
DEBUG_Print("\r\n");
DEBUG_Print("Temp: ");
itoa((brusa_temp.power_temp / 10) - 40 , str, 10);
DEBUG_Print(str);
DEBUG_Print("\r\n");
DEBUG_Print("Temp: 0x");
itoa(brusa_temp.power_temp , str, 16);
DEBUG_Print(str);
DEBUG_Print("\r\n");
break;
case 'b': // Print out Actual Brusa Output
DEBUG_Print("Actual Out Voltage: ");
itoa(brusa_actual_1.output_mVolts, str, 10);
DEBUG_Println(str);
DEBUG_Print("Actual Out Current: ");
itoa(brusa_actual_1.output_cAmps, str, 10);
DEBUG_Println(str);
break;
case 'f': // Print out Pack State
itoa(pack_state.pack_min_mVolts, str, 10);
DEBUG_Print("Pack Min Voltage: ");
DEBUG_Print(str);
DEBUG_Print("\r\n");
itoa(pack_state.pack_max_mVolts, str, 10);
DEBUG_Print("Pack Max Voltage: ");
DEBUG_Print(str);
DEBUG_Print("\r\n");
break;
case 'y': // Print out Module Balance State
itoa(PackManager_GetExtModId(0), str, 16);
DEBUG_Print("Mod 0x");
DEBUG_Print(str);
itoa(PackManager_GetExtBal(0), str, 2);
DEBUG_Print(": 0b");
DEBUG_Println(str);
itoa(PackManager_GetExtModId(1), str, 16);
DEBUG_Print("Mod 0x");
DEBUG_Print(str);
itoa(PackManager_GetExtBal(1), str, 2);
DEBUG_Print(": 0b");
DEBUG_Println(str);
break;
case 'e':
itoa(brusa_error,str, 2);
DEBUG_Println(str);
break;
case 'm': // Print out charge mode and brusa error
DEBUG_Print("Charge Mode: ");
itoa(Charge_GetMode(), str, 10);
DEBUG_Println(str);
DEBUG_Print("Error Messages: ");
itoa((uint64_t)brusa_error, str, 2);
DEBUG_Println(str);
break;
default:
DEBUG_Print("Unknown Command\r\n");
}
}
//-----------------------------
// Detect Input Changes (Default to IDLE)
MODE_INPUT_T inp = INP_IDLE;
if (!Board_Switch_Read()) {
inp = INP_CHRG;
} else {
inp = INP_IDLE;
}
//-----------------------------
// Update pack_state
pack_state.contactors_closed = Board_Contactors_Closed();
pack_state.msTicks = msTicks;
pack_state.brusa_error = brusa_error;
pack_state.pack_cAmps_in = brusa_actual_1.output_cAmps;
//-----------------------------
// SSM Step
ERROR_T result = SSM_Step(&pack_state, inp, &out_state);
if (result != ERROR_NONE) {
_error(result, true, false);
}
//-----------------------------
// Check if SSM has Changed State
// Currently only changes Poll Frequency
// [TODO] Set a status LED!!
if (SSM_GetMode() != mode) {
mode = SSM_GetMode();
switch (SSM_GetMode()) {
case IDLE:
Chip_TIMER_SetMatch(LPC_TIMER32_1, 0, Hertz2Ticks(BCM_POLL_IDLE_FREQ));
Chip_TIMER_Reset(LPC_TIMER32_1); // Otherwise shit gets F****D
break;
case CHARGING:
Chip_TIMER_SetMatch(LPC_TIMER32_1, 0, Hertz2Ticks(BCM_POLL_CHARGING_FREQ));
Chip_TIMER_Reset(LPC_TIMER32_1);
break;
case DRAINING:
Chip_TIMER_SetMatch(LPC_TIMER32_1, 0, Hertz2Ticks(BCM_POLL_DRAINING_FREQ));
Chip_TIMER_Reset(LPC_TIMER32_1);
break;
}
}
//-----------------------------
// Carry out out_state
if (out_state.close_contactors && !Board_Contactors_Closed()) {
Board_Close_Contactors(true);
} else if (!out_state.close_contactors && Board_Contactors_Closed()) {
Board_Close_Contactors(false);
}
if (out_state.brusa_output) {
brusa_control.clear_error = out_state.brusa_clear_latch;
brusa_control.output_mVolts = out_state.brusa_mVolts;
brusa_control.output_cAmps = out_state.brusa_cAmps;
Chip_TIMER_Enable(LPC_TIMER32_0);
} else {
brusa_control.output_mVolts = 0;
brusa_control.output_cAmps = 0;
Chip_TIMER_Disable(LPC_TIMER32_0);
}
//-----------------------------
// Retrieve available brusa messages
int8_t tmp = MCP2515_GetFullReceiveBuffer();
int8_t res = 0;
if (tmp == 2) {
MCP2515_ReadBuffer(&mcp_msg_obj, 0);
res = Brusa_Decode(&brusa_messages, &mcp_msg_obj);
if (res == -1) {
DEBUG_Println("Brusa Decode Error");
res = 0;
}
MCP2515_ReadBuffer(&mcp_msg_obj, 1);
res = Brusa_Decode(&brusa_messages, &mcp_msg_obj);
} else if (tmp == 0) { // Receive Buffer 0 Full
MCP2515_ReadBuffer(&mcp_msg_obj, tmp);
res = Brusa_Decode(&brusa_messages, &mcp_msg_obj);
} else if (tmp == 1) { //Receive buffer 1 full
MCP2515_ReadBuffer(&mcp_msg_obj, tmp);
res = Brusa_Decode(&brusa_messages, &mcp_msg_obj);
}
if (res == -1) {
DEBUG_Println("Brusa Decode Error");
res = 0;
}
//-----------------------------
// Send brusa message if its time
if (brusa_message_send) {
brusa_message_send = false;
Brusa_MakeCTL(&brusa_control, &mcp_msg_obj);
MCP2515_LoadBuffer(0, &mcp_msg_obj);
MCP2515_SendBuffer(0);
}
//-----------------------------
// Check for and decode A123 Messages
if (!RingBuffer_IsEmpty(&rx_buffer)) {
CCAN_MSG_OBJ_T temp_msg;
RingBuffer_Pop(&rx_buffer, &temp_msg);
res = PackManager_Update(&temp_msg);
if (new_std_msg_sent) {
PackManager_Commit(&pack_state);
new_std_msg_sent = false;
}
}
if (res == -1) {
DEBUG_Println("A123 Decode Error");
}
//-----------------------------
// Timed output
if (msTicks - last_debug_message > TIMED_MESSAGE_DELAY) {
message_count++;
last_debug_message = msTicks;
switch (message_count % 7) {
case 0:
if (out_state.balance) {
itoa(mbb_cmd.balance_target_mVolts, str, 10);
DEBUG_Print("Balancing to: ");
DEBUG_Println(str);
} else {
DEBUG_Println("Not balancing");
}
break;
case 1:
itoa(brusa_control.output_mVolts, str, 10);
DEBUG_Print("Brusa out V: ");
DEBUG_Println(str);
break;
case 2:
itoa(brusa_control.output_cAmps, str, 10);
DEBUG_Print("Brusa out C: ");
DEBUG_Println(str);
break;
case 3:
DEBUG_Print("Actual Out Voltage: ");
itoa(brusa_actual_1.output_mVolts, str, 10);
DEBUG_Println(str);
break;
case 4:
DEBUG_Print("Actual Out Current: ");
itoa(brusa_actual_1.output_cAmps, str, 10);
DEBUG_Println(str);
break;
case 5:
DEBUG_Print("Mode: ");
DEBUG_Println((SSM_GetMode() == CHARGING) ? "Chrg":"Idle");
break;
case 6:
DEBUG_Print("Brusa Output: ");
itoa(out_state.brusa_output, str, 2);
DEBUG_Println(str);
DEBUG_Print("\r\n");
break;
}
}
}
return 0;
}
