void REF_Init(void) { refState = REF_STATE_INIT; timerHandle = RefCnt_Init(NULL); /*! \todo You might need to adjust priority or other task settings */ if (FRTOS1_xTaskCreate(ReflTask, "Refl", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) { for(;;){} /* error */ } }
void REF_Init(void) { #if REF_START_STOP_CALIB FRTOS1_vSemaphoreCreateBinary(REF_StartStopSem); if (REF_StartStopSem==NULL) { /* semaphore creation failed */ for(;;){} /* error */ } (void)FRTOS1_xSemaphoreTake(REF_StartStopSem, 0); /* empty token */ FRTOS1_vQueueAddToRegistry(REF_StartStopSem, "RefStartStopSem"); #endif refState = REF_STATE_INIT; timerHandle = RefCnt_Init(NULL); /*! \todo You might need to adjust priority or other task settings */ if (FRTOS1_xTaskCreate(ReflTask, "Refl", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) { for(;;){} /* error */ } }
static uint8_t PrintStatus(const CLS1_StdIOType *io) { unsigned char buf[24]; int i; CLS1_SendStatusStr((unsigned char*)"reflectance", (unsigned char*)"\r\n", io->stdOut); CLS1_SendStatusStr((unsigned char*)" IR led on", ledON?(unsigned char*)"yes\r\n":(unsigned char*)"no\r\n", io->stdOut); CLS1_SendStatusStr((unsigned char*)" calibrating", doMinMaxCalibration?(unsigned char*)"yes\r\n":(unsigned char*)"no\r\n", io->stdOut); CLS1_SendStatusStr((unsigned char*)" calibrated", isCalibrated?(unsigned char*)"yes\r\n":(unsigned char*)"no\r\n", io->stdOut); UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0x"); UTIL1_strcatNum16Hex(buf, sizeof(buf), REF_MIN_NOISE_VAL); UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n"); CLS1_SendStatusStr((unsigned char*)" min noise", buf, io->stdOut); UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"0x"); UTIL1_strcatNum16Hex(buf, sizeof(buf), REF_MIN_LINE_VAL); UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n"); CLS1_SendStatusStr((unsigned char*)" min line", buf, io->stdOut); CLS1_SendStatusStr((unsigned char*)" raw val", (unsigned char*)"", io->stdOut); #if REF_SENSOR1_IS_LEFT for (i=0;i<REF_NOF_SENSORS;i++) { if (i==0) { #else for (i=REF_NOF_SENSORS-1;i>=0;i--) { if (i==REF_NOF_SENSORS-1) { #endif CLS1_SendStr((unsigned char*)"0x", io->stdOut); } else { CLS1_SendStr((unsigned char*)" 0x", io->stdOut); } buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorRaw[i]); CLS1_SendStr(buf, io->stdOut); } CLS1_SendStr((unsigned char*)"\r\n", io->stdOut); CLS1_SendStatusStr((unsigned char*)" min val", (unsigned char*)"", io->stdOut); #if REF_SENSOR1_IS_LEFT for (i=0;i<REF_NOF_SENSORS;i++) { if (i==0) { #else for (i=REF_NOF_SENSORS-1;i>=0;i--) { if (i==REF_NOF_SENSORS-1) { #endif CLS1_SendStr((unsigned char*)"0x", io->stdOut); } else { CLS1_SendStr((unsigned char*)" 0x", io->stdOut); } buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorMin[i]); CLS1_SendStr(buf, io->stdOut); } CLS1_SendStr((unsigned char*)"\r\n", io->stdOut); CLS1_SendStatusStr((unsigned char*)" max val", (unsigned char*)"", io->stdOut); #if REF_SENSOR1_IS_LEFT for (i=0;i<REF_NOF_SENSORS;i++) { if (i==0) { #else for (i=REF_NOF_SENSORS-1;i>=0;i--) { if (i==REF_NOF_SENSORS-1) { #endif CLS1_SendStr((unsigned char*)"0x", io->stdOut); } else { CLS1_SendStr((unsigned char*)" 0x", io->stdOut); } buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorMax[i]); CLS1_SendStr(buf, io->stdOut); } CLS1_SendStr((unsigned char*)"\r\n", io->stdOut); CLS1_SendStatusStr((unsigned char*)" calib val", (unsigned char*)"", io->stdOut); #if REF_SENSOR1_IS_LEFT for (i=0;i<REF_NOF_SENSORS;i++) { if (i==0) { #else for (i=REF_NOF_SENSORS-1;i>=0;i--) { if (i==REF_NOF_SENSORS-1) { #endif CLS1_SendStr((unsigned char*)"0x", io->stdOut); } else { CLS1_SendStr((unsigned char*)" 0x", io->stdOut); } buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorCalibrated[i]); CLS1_SendStr(buf, io->stdOut); } CLS1_SendStr((unsigned char*)"\r\n", io->stdOut); CLS1_SendStatusStr((unsigned char*)" line val", (unsigned char*)"", io->stdOut); buf[0] = '\0'; UTIL1_strcatNum16s(buf, sizeof(buf), refCenterLineVal); CLS1_SendStr(buf, io->stdOut); CLS1_SendStr((unsigned char*)"\r\n", io->stdOut); #if PL_APP_LINE_MAZE #if REF_SENSOR1_IS_LEFT for (i=0;i<REF_NOF_SENSORS;i++) { if (i==0) { #else for (i=REF_NOF_SENSORS-1;i>=0;i--) { if (i==REF_NOF_SENSORS-1) { #endif CLS1_SendStatusStr((unsigned char*)" history", (unsigned char*)"0x", io->stdOut); } else { CLS1_SendStr((unsigned char*)" 0x", io->stdOut); } buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorHistory[i]); CLS1_SendStr(buf, io->stdOut); } CLS1_SendStr((unsigned char*)"\r\n", io->stdOut); #endif CLS1_SendStatusStr((unsigned char*)" line kind", REF_LineKindStr(refLineKind), io->stdOut); CLS1_SendStr((unsigned char*)"\r\n", io->stdOut); return ERR_OK; } byte REF_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) { if (UTIL1_strcmp((char*)cmd, CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, "ref help")==0) { *handled = TRUE; return PrintHelp(io); } else if ((UTIL1_strcmp((char*)cmd, CLS1_CMD_STATUS)==0) || (UTIL1_strcmp((char*)cmd, "ref status")==0)) { *handled = TRUE; return PrintStatus(io); } else if (UTIL1_strcmp((char*)cmd, "ref calib on")==0) { APP_StateStartCalibrate(); *handled = TRUE; return ERR_OK; } else if (UTIL1_strcmp((char*)cmd, "ref calib off")==0) { APP_StateStopCalibrate(); *handled = TRUE; return ERR_OK; } else if (UTIL1_strcmp((char*)cmd, "ref led on")==0) { ledON = TRUE; *handled = TRUE; return ERR_OK; } else if (UTIL1_strcmp((char*)cmd, "ref led off")==0) { ledON = FALSE; *handled = TRUE; return ERR_OK; } return ERR_OK; } uint16_t REF_GetLineValue(bool *onLine) { *onLine = refCenterLineVal>0 && refCenterLineVal<REF_MAX_LINE_VALUE; return refCenterLineVal; } static portTASK_FUNCTION(ReflTask, pvParameters) { (void)pvParameters; /* not used */ for(;;) { if (doMinMaxCalibration) { REF_CalibrateMinMax(SensorMin, SensorMax, SensorRaw); #if PL_HAS_BUZZER BUZ_Beep(300, 50); #endif } else { REF_Measure(); } FRTOS1_vTaskDelay(10/portTICK_RATE_MS); } } void REF_Init(void) { refLineKind = REF_LINE_NONE; refCenterLineVal = 0; mutexHandle = FRTOS1_xSemaphoreCreateMutex(); if (mutexHandle==NULL) { for(;;); } timerHandle = RefCnt_Init(NULL); REF_InitSensorValues(); if (FRTOS1_xTaskCreate(ReflTask, (signed portCHAR *)"Refl", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1+2, NULL) != pdPASS) { for(;;){} /* error */ } }