static void REF_StateMachine(void) {
int i;
switch (refState) {
case REF_STATE_INIT:
SHELL_SendString((unsigned char*)"INFO: No calibration data present.\r\n");
refState = REF_STATE_NOT_CALIBRATED;
break;
// SW1 pressen, dann kommt er da rein.
case REF_STATE_NOT_CALIBRATED:
REF_MeasureRaw(SensorRaw);
/*! \todo Add a new event to your event module...*/
if (EVNT_EventIsSet(EVNT_REF_START_STOP_CALIBRATION)) {
EVNT_ClearEvent(EVNT_REF_START_STOP_CALIBRATION);
refState = REF_STATE_START_CALIBRATION;
break;
}
break;
case REF_STATE_START_CALIBRATION:
SHELL_SendString((unsigned char*)"start calibration...\r\n");
for(i=0;i<REF_NOF_SENSORS;i++) {
SensorCalibMinMax.minVal[i] = MAX_SENSOR_VALUE;
SensorCalibMinMax.maxVal[i] = 0;
SensorCalibrated[i] = 0;
}
refState = REF_STATE_CALIBRATING;
break;
case REF_STATE_CALIBRATING:
REF_CalibrateMinMax(SensorCalibMinMax.minVal, SensorCalibMinMax.maxVal, SensorRaw);
if (EVNT_EventIsSet(EVNT_REF_START_STOP_CALIBRATION)) {
EVNT_ClearEvent(EVNT_REF_START_STOP_CALIBRATION);
refState = REF_STATE_STOP_CALIBRATION;
}
break;
case REF_STATE_STOP_CALIBRATION:
SHELL_SendString((unsigned char*)"...stopping calibration.\r\n");
refState = REF_STATE_READY;
break;
case REF_STATE_READY:
REF_Measure();
if (EVNT_EventIsSet(EVNT_REF_START_STOP_CALIBRATION)) {
EVNT_ClearEvent(EVNT_REF_START_STOP_CALIBRATION);
refState = REF_STATE_START_CALIBRATION;
}
break;
} /* switch */
}
static void REF_CalibrateMinMax(SensorTimeType min[REF_NOF_SENSORS], SensorTimeType max[REF_NOF_SENSORS], SensorTimeType raw[REF_NOF_SENSORS]) {
int i;
REF_MeasureRaw(raw);
for(i=0;i<REF_NOF_SENSORS;i++) {
if (raw[i] < min[i]) {
min[i] = raw[i];
}
if (raw[i]> max[i]) {
max[i] = raw[i];
}
}
}
static void ReadCalibrated(SensorTimeType calib[REF_NOF_SENSORS], SensorTimeType raw[REF_NOF_SENSORS]) {
int i;
int32_t x, denominator;
REF_MeasureRaw(raw);
for(i=0;i<REF_NOF_SENSORS;i++) {
x = 0;
denominator = SensorCalibMinMax.maxVal[i]-SensorCalibMinMax.minVal[i];
if (denominator!=0) {
x = (((int32_t)raw[i]-SensorCalibMinMax.minVal[i])*1000)/denominator;
}
if (x<0) {
x = 0;
} else if (x>1000) {
x = 1000;
}
calib[i] = x;
}
}
void REF_CalibrateAverage(SensorTimeType values[NOF_SENSORS], SensorTimeType raw[NOF_SENSORS]) {
uint32_t sum[NOF_SENSORS];
#define CALIB_NOF_MEASUREMENT 8
int i, j;
for(i=0;i<NOF_SENSORS;i++) {
sum[i] = 0; /* init */
}
for(j=0;j<CALIB_NOF_MEASUREMENT;j++) {
REF_MeasureRaw(raw);
for(i=0;i<NOF_SENSORS;i++) {
sum[i]+=raw[i];
}
}
/* build average */
for(i=0;i<NOF_SENSORS;i++) {
values[i] = sum[i]/CALIB_NOF_MEASUREMENT;
}
}
static void ReadCalibrated(SensorTimeType calib[NOF_SENSORS], SensorTimeType raw[NOF_SENSORS]) {
int i;
int32_t x, denominator;
REF_MeasureRaw(raw);
if (!isCalibrated) {
return;
}
for(i=0;i<NOF_SENSORS;i++) {
denominator = SensorBlack[i]-SensorWhite[i];
if (denominator!=0) {
x = (((int32_t)SensorRaw[i]-SensorWhite[i])*1000)/denominator;
}
if (x<0) {
x = 0;
} else if (x>1000) {
x = 1000;
}
calib[i] = x;
}
}
static void REF_StateMachine(void) {
int i;
switch (refState) {
case REF_STATE_INIT:
#if PL_HAS_CONFIG_NVM
/* If Calibration Data are saved, read it */
for (i = 0; i<REF_NOF_SENSORS;i++){
SensorCalibMinMax.minVal[i] = *((uint16_t*)NVMC_GetReflectanceData()+i);
SensorCalibMinMax.minVal[i+REF_NOF_SENSORS] = *((uint16_t*)NVMC_GetReflectanceData()+(i+REF_NOF_SENSORS));
}
SHELL_SendString((unsigned char*)"INFO: Loaded calibration data from FLASH...Gordon.\r\n");
refState = REF_STATE_READY;
#else
SHELL_SendString((unsigned char*)"INFO: No calibration data present.\r\n");
refState = REF_STATE_NOT_CALIBRATED;
break;
#endif
case REF_STATE_NOT_CALIBRATED:
REF_MeasureRaw(SensorRaw);
if (EVNT_EventIsSet(EVNT_REF_START_STOP_CALIBRATION)) {
EVNT_ClearEvent(EVNT_REF_START_STOP_CALIBRATION);
refState = REF_STATE_START_CALIBRATION;
break;
}
break;
case REF_STATE_START_CALIBRATION:
SHELL_SendString((unsigned char*)"start calibration...\r\n");
for(i=0;i<REF_NOF_SENSORS;i++) {
SensorCalibMinMax.minVal[i] = MAX_SENSOR_VALUE;
SensorCalibMinMax.maxVal[i] = 0;
SensorCalibrated[i] = 0;
}
refState = REF_STATE_CALIBRATING;
break;
case REF_STATE_CALIBRATING:
REF_CalibrateMinMax(SensorCalibMinMax.minVal, SensorCalibMinMax.maxVal, SensorRaw);
if (EVNT_EventIsSet(EVNT_REF_START_STOP_CALIBRATION)) {
EVNT_ClearEvent(EVNT_REF_START_STOP_CALIBRATION);
refState = REF_STATE_STOP_CALIBRATION;
}
break;
case REF_STATE_STOP_CALIBRATION:
/* Save Calibration Data */
NVMC_SaveReflectanceData(&SensorCalibMinMax, sizeof(SensorCalibMinMax));
SHELL_SendString((unsigned char*)"...stopping calibration. Files written to Flash\r\n");
refState = REF_STATE_READY;
break;
case REF_STATE_READY:
REF_Measure();
if (EVNT_EventIsSet(EVNT_REF_START_STOP_CALIBRATION)) {
EVNT_ClearEvent(EVNT_REF_START_STOP_CALIBRATION);
refState = REF_STATE_START_CALIBRATION;
}
break;
} /* switch */
}
static void REF_StateMachine(void) {
int i;
switch (refState) {
case REF_STATE_INIT:
#if PL_CONFIG_EST
{
SensorCalibT *ptr;
ptr = (SensorCalibT*)NVMC_GetReflectanceData();
if (ptr!=NULL) { /* valid data */
SensorCalibMinMax = *ptr;
refState = REF_STATE_READY;
} else {
refState = REF_STATE_NOT_CALIBRATED;
}
}
#else
SHELL_SendString((unsigned char*)"INFO: No calibration data present.\r\n");
refState = REF_STATE_NOT_CALIBRATED;
#endif
break;
case REF_STATE_NOT_CALIBRATED:
REF_MeasureRaw(SensorRaw);
/*! \todo Add a new event to your event module...*/
#if REF_START_STOP_CALIB
if (FRTOS1_xSemaphoreTake(REF_StartStopSem, 0)==pdTRUE) {
refState = REF_STATE_START_CALIBRATION;
}
#endif
break;
case REF_STATE_START_CALIBRATION:
SHELL_SendString((unsigned char*)"start calibration...\r\n");
for(i=0;i<REF_NOF_SENSORS;i++) {
SensorCalibMinMax.minVal[i] = MAX_SENSOR_VALUE;
SensorCalibMinMax.maxVal[i] = 0;
SensorCalibrated[i] = 0;
}
refState = REF_STATE_CALIBRATING;
break;
case REF_STATE_CALIBRATING:
REF_CalibrateMinMax(SensorCalibMinMax.minVal, SensorCalibMinMax.maxVal, SensorRaw);
#if PL_CONFIG_HAS_BUZZER
startBuzzer(Middle,200);
#endif
#if REF_START_STOP_CALIB
if (FRTOS1_xSemaphoreTake(REF_StartStopSem, 0)==pdTRUE) {
refState = REF_STATE_STOP_CALIBRATION;
}
#endif
break;
case REF_STATE_STOP_CALIBRATION:
SHELL_SendString((unsigned char*)"...stopping calibration.\r\n");
#if PL_CONFIG_EST
if (NVMC_SaveReflectanceData(&SensorCalibMinMax, sizeof(SensorCalibMinMax))!=ERR_OK) {
SHELL_SendString((unsigned char*)"Flashing calibration data FAILED!\r\n");
} else {
SHELL_SendString((unsigned char*)"Stored calibration data.\r\n");
}
#endif
refState = REF_STATE_READY;
break;
case REF_STATE_READY:
REF_Measure();
#if REF_START_STOP_CALIB
if (FRTOS1_xSemaphoreTake(REF_StartStopSem, 0)==pdTRUE) {
refState = REF_STATE_START_CALIBRATION;
}
#endif
break;
} /* switch */
}
static void REF_StateMachine(void) {
int i;
switch (refState) {
case REF_STATE_INIT:
#if NVM_ENABLED
refState = REF_GetCalibData();
#else
refState = REF_STATE_NOT_CALIBRATED;
SHELL_SendString("INFO: Sensor not calibrated");
#endif
break;
case REF_STATE_NOT_CALIBRATED:
REF_MeasureRaw(SensorRaw);
/*! \todo Add a new event to your event module...*/
#if REF_START_STOP_CALIB
if (FRTOS1_xSemaphoreTake(REF_StartStopSem, 0)==pdTRUE) {
refState = REF_STATE_START_CALIBRATION;
}
#endif
break;
case REF_STATE_START_CALIBRATION:
SHELL_SendString((unsigned char*)"start calibration...\r\n");
for(i=0;i<REF_NOF_SENSORS;i++) {
SensorCalibMinMax.minVal[i] = MAX_SENSOR_VALUE;
SensorCalibMinMax.maxVal[i] = 0;
SensorCalibrated[i] = 0;
}
refState = REF_STATE_CALIBRATING;
break;
case REF_STATE_CALIBRATING:
REF_CalibrateMinMax(SensorCalibMinMax.minVal, SensorCalibMinMax.maxVal, SensorRaw);
#if PL_CONFIG_HAS_BUZZER
(void)BUZ_Beep(300, 20);
#endif
#if REF_START_STOP_CALIB
if (FRTOS1_xSemaphoreTake(REF_StartStopSem, 0)==pdTRUE) {
refState = REF_STATE_STOP_CALIBRATION;
}
#endif
break;
case REF_STATE_STOP_CALIBRATION:
SHELL_SendString((unsigned char*)"...stopping calibration.\r\n");
#if NVM_ENABLED
SHELL_SendString((unsigned char*)"saving calib data...\r\n");
REF_SaveCalibData();
#endif
refState = REF_STATE_READY;
break;
case REF_STATE_READY:
REF_Measure();
#if REF_START_STOP_CALIB
if (FRTOS1_xSemaphoreTake(REF_StartStopSem, 0)==pdTRUE) {
refState = REF_STATE_START_CALIBRATION;
}
#endif
break;
} /* switch */
}
