static portTASK_FUNCTION(RNetTask, pvParameters) {
uint32_t cntr;
uint8_t msgCntr;
(void)pvParameters; /* not used */
if (RAPP_SetThisNodeAddr(RNWK_ADDR_BROADCAST)!=ERR_OK) { /* set a default address */
for(;;); /* "ERR: Failed setting node address" */
}
cntr = 0; /* initialize LED counter */
msgCntr = 0; /* initialize message counter */
appState = RNETA_INITIAL; /* initialize state machine state */
for(;;) {
Process(); /* process state machine */
cntr++;
if (cntr==100) { /* with an RTOS 10 ms/100 Hz tick rate, this is every second */
LED3_On(); /* blink blue LED for 20 ms */
RAPP_SendPayloadDataBlock(&msgCntr, sizeof(msgCntr), RAPP_MSG_TYPE_PING, RNWK_ADDR_BROADCAST, RPHY_PACKET_FLAGS_NONE);
msgCntr++;
cntr = 0;
FRTOS1_vTaskDelay(20/portTICK_RATE_MS);
LED3_Off(); /* blink blue LED */
}
FRTOS1_vTaskDelay(10/portTICK_RATE_MS);
} /* for */
}
/*
** ===================================================================
** Event : BUTTON_YELLOW_OnInterrupt (module Events)
**
** Component : BUTTON_YELLOW [ExtInt]
** Description :
** This event is called when an active signal edge/level has
** occurred.
** Parameters : None
** Returns : Nothing
** ===================================================================
*/
void BUTTON_YELLOW_OnInterrupt(void)
{
/* Write your code here ... */
Events_fireEvent(BUTTON_YELLOW_PRESSED);
data = 'Y';
(void)RAPP_SendPayloadDataBlock(&data, sizeof(data), RAPP_MSG_TYPE_JOYSTICK_BTN, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
}
/*
** ===================================================================
** Event : BUTTON_BLUE_OnInterrupt (module Events)
**
** Component : BUTTON_BLUE [ExtInt]
** Description :
** This event is called when an active signal edge/level has
** occurred.
** Parameters : None
** Returns : Nothing
** ===================================================================
*/
void blueButtonCallback() {
data = 'B';
(void)RAPP_SendPayloadDataBlock(
&data,
sizeof(data),
RAPP_MSG_TYPE_JOYSTICK_BTN,
RNETA_GetDestAddr(),
RPHY_PACKET_FLAGS_REQ_ACK
);
}
static void RemoteTask (void *pvParameters) {
(void)pvParameters;
#if PL_CONFIG_HAS_JOYSTICK
(void)APP_GetXY(&midPointX, &midPointY, NULL, NULL);
#endif
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
for(;;) {
if (REMOTE_isOn) {
#if PL_CONFIG_HAS_JOYSTICK
if (REMOTE_useJoystick) {
uint8_t buf[2];
int16_t x, y;
int8_t x8, y8;
/* send periodically messages */
APP_GetXY(&x, &y, &x8, &y8);
buf[0] = x8;
buf[1] = y8;
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), x8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), y8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_JOYSTICK_XY, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
FRTOS1_vTaskDelay(200/portTICK_PERIOD_MS);
} else {
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
}
} /* for */
}
static void CheckKey(void) {
uint16_t cnt;
uint8_t data;
if (SW1_GetVal()==0) { /* low active */
WAIT1_WaitOSms(50); /* simple debounce */
if (SW1_GetVal()==0) { /* still pressed? */
cnt = 0;
while(SW1_GetVal()==0) { /* wait until released */
WAIT1_WaitOSms(10);
cnt += 10;
}
if (cnt>1000) { /* long press */
data = 2; /* toggle LED2 */
} else {
data = 1; /* toggle LED1 */
}
(void)RAPP_SendPayloadDataBlock(&data, sizeof(data), RAPP_MSG_TYPE_DATA, RNWK_ADDR_BROADCAST, RPHY_PACKET_FLAGS_NONE);
}
}
}
static portTASK_FUNCTION(RemoteTask, pvParameters) {
#if PL_HAS_WATCHDOG
int i;
#endif
(void)pvParameters;
#if PL_HAS_JOYSTICK
(void)APP_GetXY(&midPointX, &midPointY, NULL, NULL);
#endif
for(;;) {
if (REMOTE_isOn) {
#if PL_HAS_ACCEL
if (REMOTE_useAccelerometer) {
#if PL_HAS_KEYS
uint8_t buf[7];
uint8_t keys;
#else /* PL_HAS_KEYS */
uint8_t buf[6];
#endif /* PL_HAS_KEYS */
int16_t x, y, z;
/* send periodically accelerometer messages */
#if PL_HAS_KEYS
APP_GetKeys(&keys);
#endif /* PL_HAS_KEYS */
ACCEL_GetValues(&x, &y, &z);
buf[0] = (uint8_t)(x&0xFF);
buf[1] = (uint8_t)(x>>8);
buf[2] = (uint8_t)(y&0xFF);
buf[3] = (uint8_t)(y>>8);
buf[4] = (uint8_t)(z&0xFF);
buf[5] = (uint8_t)(z>>8);
#if PL_HAS_KEYS
buf[6] = keys;
#endif /* PL_HAS_KEYS */
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), x);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), y);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" z: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), z);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_ACCEL, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
#if PL_HAS_JOYSTICK
if (REMOTE_useJoystick) {
#if PL_HAS_KEYS
uint8_t buf[3];
uint8_t keys;
#else /* PL_HAS_KEYS */
uint8_t buf[2];
#endif /* PL_HAS_KEYS */
int16_t x, y;
int8_t x8, y8;
/* send periodically accelerometer messages */
#if PL_HAS_KEYS
APP_GetKeys(&keys);
#endif /* PL_HAS_KEYS */
APP_GetXY(&x, &y, &x8, &y8);
buf[0] = x8;
buf[1] = y8;
#if PL_HAS_KEYS
buf[2] = keys;
#endif /* PL_HAS_KEYS */
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), x8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), y8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_JOYSTICK_XY, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
#if PL_HAS_WATCHDOG
for(i=0; i<2; i++) { /* do it in smaller steps */
WDT_IncTaskCntr(WDT_TASK_ID_REMOTE, 100);
FRTOS1_vTaskDelay(100/portTICK_RATE_MS);
}
#else
FRTOS1_vTaskDelay(200/portTICK_RATE_MS);
#endif
} else {
#if PL_HAS_WATCHDOG
for(i=0; i<10; i++) { /* do it in smaller steps */
WDT_IncTaskCntr(WDT_TASK_ID_REMOTE, 100);
FRTOS1_vTaskDelay(100/portTICK_RATE_MS);
}
#else
FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);
#endif
}
} /* for */
uint8_t RNETA_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
const uint8_t *p;
uint16_t val16;
uint8_t val8;
if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"app help")==0) {
PrintHelp(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"app status")==0) {
*handled = TRUE;
return PrintStatus(io);
} else if (UTIL1_strncmp((char*)cmd, (char*)"app saddr", sizeof("app saddr")-1)==0) {
p = cmd + sizeof("app saddr")-1;
*handled = TRUE;
if (UTIL1_ScanHex16uNumber(&p, &val16)==ERR_OK) {
(void)RNWK_SetThisNodeAddr((RNWK_ShortAddrType)val16);
} else {
CLS1_SendStr((unsigned char*)"ERR: wrong address\r\n", io->stdErr);
return ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"app send val", sizeof("app send val")-1)==0) {
p = cmd + sizeof("app send val")-1;
*handled = TRUE;
if (UTIL1_ScanDecimal8uNumber(&p, &val8)==ERR_OK) {
(void)RAPP_SendPayloadDataBlock(&val8, sizeof(val8), RAPP_MSG_TYPE_DATA, APP_dstAddr, RPHY_PACKET_FLAGS_NONE); /* only send low byte */
} else {
CLS1_SendStr((unsigned char*)"ERR: wrong number format\r\n", io->stdErr);
return ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"app daddr", sizeof("app daddr")-1)==0) {
p = cmd + sizeof("app daddr")-1;
*handled = TRUE;
if (UTIL1_ScanHex16uNumber(&p, &val16)==ERR_OK) {
APP_dstAddr = val16;
} else {
CLS1_SendStr((unsigned char*)"ERR: wrong address\r\n", io->stdErr);
return ERR_FAILED;
}
#if PL_HAS_RSTDIO
} else if (UTIL1_strncmp((char*)cmd, (char*)"app send", sizeof("app send")-1)==0) {
unsigned char buf[32];
RSTDIO_QueueType queue;
if (UTIL1_strncmp((char*)cmd, (char*)"app send in", sizeof("app send in")-1)==0) {
queue = RSTDIO_QUEUE_TX_IN;
cmd += sizeof("app send in");
} else if (UTIL1_strncmp((char*)cmd, (char*)"app send out", sizeof("app send out")-1)==0) {
queue = RSTDIO_QUEUE_TX_OUT;
cmd += sizeof("app send out");
} else if (UTIL1_strncmp((char*)cmd, (char*)"app send err", sizeof("app send err")-1)==0) {
queue = RSTDIO_QUEUE_TX_ERR;
cmd += sizeof("app send err");
} else {
return ERR_OK; /* not handled */
}
UTIL1_strcpy(buf, sizeof(buf), cmd);
UTIL1_chcat(buf, sizeof(buf), '\n');
buf[sizeof(buf)-2] = '\n'; /* have a '\n' in any case */
if (RSTDIO_SendToTxStdio(queue, buf, UTIL1_strlen((char*)buf))!=ERR_OK) {
CLS1_SendStr((unsigned char*)"failed!\r\n", io->stdErr);
}
*handled = TRUE;
#endif
}
return res;
}
static void RemoteTask (void *pvParameters) {
(void)pvParameters;
#if PL_CONFIG_HAS_JOYSTICK
(void)APP_GetXY(&midPointX, &midPointY, NULL, NULL);
#endif
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
for(;;) {
if (REMOTE_isOn) {
#if PL_CONFIG_HAS_JOYSTICK
if (REMOTE_useJoystick) {
uint8_t buf[2];
int16_t x, y;
int8_t x8, y8;
/* send periodically messages */
APP_GetXY(&x, &y, &x8, &y8);
if(x8 > 100)
buf[0] = 1;
else if(x8 < -100)
buf[0] = 2;
else
buf[0] = 0;
//buf[0] = x8;
if(normalSpeedPressed) {
if(fastSpeedPressed) {
buf[1] = 2; // fast speed
} else {
buf[1] = 1; // normal speed
}
} else if (retourSpeedPressed) {
buf[1] = 3; // retour
} else {
buf[1] = 0; // stand
}
if(startLineFollow == 1) {
buf[1] = 4; // left handed
startLineFollow = 0;
}
if(startLineFollow == 2) {
buf[1] = 5; // right handed
startLineFollow = 0;
}
//buf[1] = y8;
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), x8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), y8);
//UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
//UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
//UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" 0/R/L: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), buf[0]);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" 0/N/F/R: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), buf[1]);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_JOYSTICK_XY, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
FRTOS1_vTaskDelay(20/portTICK_PERIOD_MS);
} else {
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
}
} /* for */
}