void APP_Tasks ( void )
{
/* Check the application's current state. */
switch ( appData.state )
{
/* Application's initial state. */
case APP_STATE_INIT:
{
appData.suspended = false;
appData.usbDevHandle = -1;
/* Open the device layer */
appData.usbDevHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0,
DRV_IO_INTENT_READWRITE );
if(appData.usbDevHandle != USB_DEVICE_HANDLE_INVALID)
{
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.usbDevHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_USB_OPENED;
}
break;
}
case APP_STATE_CONFIGURED:
{
APP_Task_configured_state();
break; //APP_STATE_CONFIGURED
}
/* The default state should never be executed. */
default:
{
break;
}
}
app_tuner_updown_tasks();
}
void APP2_Tasks ( void )
{
/* Update the application state machine based
* on the current state */
switch(app2Data.state)
{
case APP2_STATE_INIT:
/* Open the device layer */
app2Data.deviceHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(app2Data.deviceHandle != USB_DEVICE_HANDLE_INVALID)
{
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(app2Data.deviceHandle, APP_USBDeviceEventHandler, 0);
app2Data.state = APP2_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP2_STATE_WAIT_FOR_CONFIGURATION:
/* Check if the device was configured */
if(app2Data.isConfigured)
{
app2Data.state = APP2_STATE_SCHEDULE_READ;
}
break;
case APP2_STATE_SCHEDULE_READ:
if(APP_StateReset())
{
break;
}
/* If a read is complete, then schedule a read
* else wait for the current read to complete */
app2Data.state = APP2_STATE_WAIT_FOR_READ_COMPLETE;
if(app2Data.isReadComplete == true)
{
app2Data.isReadComplete = false;
app2Data.readTransferHandle = USB_DEVICE_CDC_TRANSFER_HANDLE_INVALID;
USB_DEVICE_CDC_Read (USB_DEVICE_CDC_INDEX_0,
&app2Data.readTransferHandle, app2Data.readBuffer,
APP_READ_BUFFER_SIZE);
if(app2Data.readTransferHandle == USB_DEVICE_CDC_TRANSFER_HANDLE_INVALID)
{
app2Data.state = APP2_STATE_ERROR;
break;
}
}
break;
case APP2_STATE_WAIT_FOR_READ_COMPLETE:
if(APP_StateReset())
{
break;
}
if(app2Data.isReadComplete == true)
{
// Check for delimiter
int res = APP_CheckForMessage(app2Data.readBuffer);
if(res == MESSAGE_BAD_POINTER)
{
// Do something
break;
}
else if(res == MESSAGE_NO_DELIMITER)
{
strcat(messageBuffer, app2Data.readBuffer);
memset(app2Data.readBuffer, '\0', APP_READ_BUFFER_SIZE);
app2Data.state = APP2_STATE_SCHEDULE_READ;
break;
}
strcat(messageBuffer, app2Data.readBuffer);
// Parse for the command being sent so we can handle it
int command = APP_ParseCommand(messageBuffer);
// Lets build our response message
// First initialize the JSON value and object from parson library
JSON_Value *rootValue = json_value_init_object();
JSON_Object *rootObject = json_value_get_object(rootValue);
char *serializedString = NULL;
// Build response and handle the command
switch(command)
{
// If hello command, respond with discovery packet
case COMMAND_HELLO:
json_object_dotset_string(rootObject, "message.command", "discovery");
json_object_dotset_string(rootObject, "message.discovery_object.title", APP_TITLE);
json_object_dotset_string(rootObject, "message.discovery_object.part_number", APP_PART_NUMBER);
json_object_dotset_string(rootObject, "message.discovery_object.mac_address", appData.macAddress);
json_object_dotset_string(rootObject, "message.discovery_object.firmware_version", APP_FIRMWARE_VERSION);
json_object_dotset_string(rootObject, "message.discovery_object.harmony_version", SYS_VERSION_STR);
json_object_dotset_boolean(rootObject, "message.discovery_object.is_commissioned", appData.isCommissioned);
break;
// If configuration command, respond with ACK/NACK
case COMMAND_CONFIGURE:
{
if(appData.isCommissioned == false)
{
JSON_Value *messageRoot = json_parse_string(messageBuffer);
if(json_value_get_type(messageRoot) != JSONObject)
{
BuildAckNackMessage(rootObject, "nack", "Invalid JSON Object");
break;
}
else
{
JSON_Object *messageObject = json_value_get_object(messageRoot);
if( json_object_dotget_string(messageObject, "message.configuration_object.aws_iot_endpoint_address") != NULL &&
json_object_dotget_string(messageObject, "message.configuration_object.aws_certificate") != NULL &&
json_object_dotget_string(messageObject, "message.configuration_object.aws_certificate_private_key") != NULL )
{
json_object_dotset_string(rootObject, "message.command", "ack");
json_object_dotset_string(rootObject, "message.ack_nack_message", "Writing commission parameters to flash");
sprintf((char *)appData.host, json_object_dotget_string(messageObject, "message.configuration_object.aws_iot_endpoint_address"));
sprintf((char *)appData.clientCert, json_object_dotget_string(messageObject, "message.configuration_object.aws_certificate"));
sprintf((char *)appData.clientKey, json_object_dotget_string(messageObject, "message.configuration_object.aws_certificate_private_key"));
appData.isCommissioned = true;
appData.writeToNVM = true;
}
else
{
BuildAckNackMessage(rootObject, "nack", "Invalid commission parameters");
break;
}
}
}
else
{
BuildAckNackMessage(rootObject, "nack", "Already commissioned");
}
break;
}
case COMMAND_DEBUG_SET:
{
JSON_Value *messageRoot = json_parse_string(messageBuffer);
if(json_value_get_type(messageRoot) != JSONObject)
{
BuildAckNackMessage(rootObject, "nack", "Invalid JSON Object");
break;
}
JSON_Object *messageObject = json_value_get_object(messageRoot);
if(messageObject == NULL)
{
BuildAckNackMessage(rootObject, "nack", "NULL Pointer");
break;
}
BuildAckNackMessage(rootObject, "ack", "Received debug set");
int DebugMessage = DEBUG_UPDATE;
xQueueSendToFront(app2Data.debugQueue, &DebugMessage, 1);
if(json_object_dotget_boolean(messageObject, "message.debug_set_object.set"))
appData.debugSet = true;
else
appData.debugSet = false;
break;
}
case COMMAND_BAD_JSON:
BuildAckNackMessage(rootObject, "nack", "Bad JSON");
break;
case COMMAND_INVALID:
BuildAckNackMessage(rootObject, "nack", "Command Invalid");
break;
default:
BuildAckNackMessage(rootObject, "nack", "Something went wrong");
break;
}
memset(app2Data.writeBuffer, '\0', APP_WRITE_BUFFER_SIZE);
// With our response built, serialize the response into a string
serializedString = json_serialize_to_string(rootValue);
strcpy(app2Data.writeBuffer, serializedString);
// Find length of string and add delimiter to end
app2Data.writeBuffer[strlen(app2Data.writeBuffer)] = '\r';
json_free_serialized_string(serializedString);
// Reset string buffers
memset(app2Data.readBuffer, '\0', APP_READ_BUFFER_SIZE);
memset(messageBuffer, '\0', APP_MESSAGE_BUFFER_SIZE);
app2Data.state = APP2_STATE_SCHEDULE_WRITE;
}
else
{
app2Data.state = APP2_STATE_WAIT_FOR_READ_COMPLETE;
if( uxQueueMessagesWaiting( app2Data.debugQueue ) > 0 )
{
int debugMessageNumber;
xQueueReceive( app2Data.debugQueue, &debugMessageNumber, 1 );
sprintf(app2Data.writeBuffer,
"{"
"\"message\":{"
"\"command\":\"debug\","
"\"debug_object\":{"
"\"board_ip_address\":\"%d.%d.%d.%d\","
"\"aws_iot_endpoint\":\"%s\","
"\"mac_address\":\"%s\","
"\"socket_connected\":%s,"
"\"mqtt_connected\":%s,"
"\"raw_message\":\"%s\""
"}}}\r",
appData.board_ipAddr.v4Add.v[0],
appData.board_ipAddr.v4Add.v[1],
appData.board_ipAddr.v4Add.v[2],
appData.board_ipAddr.v4Add.v[3],
appData.host,
appData.macAddress,
(appData.socket_connected ? "true" : "false"),
(appData.mqtt_connected ? "true" : "false"),
APP_ReturnDebugCodeToString(debugMessageNumber));
app2Data.state = APP2_STATE_SCHEDULE_DEBUG_WRITE;
}
}
break;
case APP2_STATE_SCHEDULE_WRITE:
if(APP_StateReset())
{
break;
}
app2Data.writeTransferHandle = USB_DEVICE_CDC_TRANSFER_HANDLE_INVALID;
app2Data.isWriteComplete = false;
app2Data.state = APP2_STATE_WAIT_FOR_WRITE_COMPLETE;
USB_DEVICE_CDC_Write(USB_DEVICE_CDC_INDEX_0,
&app2Data.writeTransferHandle, app2Data.writeBuffer, strlen(app2Data.writeBuffer),
USB_DEVICE_CDC_TRANSFER_FLAGS_DATA_COMPLETE);
break;
case APP2_STATE_WAIT_FOR_WRITE_COMPLETE:
if(APP_StateReset())
{
break;
}
/* Check if message sent. The isWriteComplete
* flag gets updated in the CDC event handler */
if(app2Data.isWriteComplete == true)
{
app2Data.state = APP2_STATE_SCHEDULE_READ;
}
break;
case APP2_STATE_SCHEDULE_DEBUG_WRITE:
if(APP_StateReset())
{
break;
}
app2Data.writeTransferHandle = USB_DEVICE_CDC_TRANSFER_HANDLE_INVALID;
app2Data.isWriteComplete = false;
app2Data.state = APP2_STATE_WAIT_FOR_DEBUG_WRITE_COMPLETE;
USB_DEVICE_CDC_Write(USB_DEVICE_CDC_INDEX_0,
&app2Data.writeTransferHandle, app2Data.writeBuffer, strlen(app2Data.writeBuffer),
USB_DEVICE_CDC_TRANSFER_FLAGS_DATA_COMPLETE);
break;
case APP2_STATE_WAIT_FOR_DEBUG_WRITE_COMPLETE:
if(APP_StateReset())
{
break;
}
/* Check if message sent. The isWriteComplete
* flag gets updated in the CDC event handler */
if(app2Data.isWriteComplete == true)
{
app2Data.state = APP2_STATE_WAIT_FOR_READ_COMPLETE;
}
break;
case APP2_STATE_ERROR:
break;
default:
break;
}
}
void APP_Tasks ( void )
{
//static int8_t vector = 0;
static uint8_t movement_length = 0;
static bool sent_dont_move = false;
short accels[3];
double xvel;
double yvel;
//int8_t dir_table[] ={-4,-4,-4, 0, 4, 4, 4, 0};
/* Check the application's current state. */
switch ( appData.state )
{
/* Application's initial state. */
case APP_STATE_INIT:
{
/* Open the device layer */
appData.deviceHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0,
DRV_IO_INTENT_READWRITE );
if(appData.deviceHandle != USB_DEVICE_HANDLE_INVALID)
{
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.deviceHandle,
APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
}
case APP_STATE_WAIT_FOR_CONFIGURATION:
/* Check if the device is configured. The
* isConfigured flag is updated in the
* Device Event Handler */
if(appData.isConfigured)
{
appData.state = APP_STATE_MOUSE_EMULATE;
}
break;
case APP_STATE_MOUSE_EMULATE:
APP_ProcessSwitchPress();
/* The following logic rotates the mouse icon when
* a switch is pressed */
if(appData.isSwitchPressed)
{
/* Toggle the mouse emulation with each switch press */
appData.emulateMouse ^= 1;
appData.isSwitchPressed = false;
}
if(appData.emulateMouse)
{
sent_dont_move = false;
if(movement_length > 50)
{
acc_read_register(OUT_X_L_A, (unsigned char *) accels, 6);
xvel = accels[0]/10000;
yvel = accels[1]/10000;
appData.xCoordinate = (double) xvel;
appData.yCoordinate = (double) yvel;
appData.mouseButton[0] = MOUSE_BUTTON_STATE_RELEASED;
appData.mouseButton[1] = MOUSE_BUTTON_STATE_RELEASED;
//appData.xCoordinate =(int8_t)dir_table[vector & 0x07] ;
//appData.yCoordinate =(int8_t)dir_table[(vector+2) & 0x07];
//vector ++;
movement_length = 0;
}
}
else
{
appData.mouseButton[0] = MOUSE_BUTTON_STATE_RELEASED;
appData.mouseButton[1] = MOUSE_BUTTON_STATE_RELEASED;
appData.xCoordinate = 0;
appData.yCoordinate = 0;
}
if(!appData.isMouseReportSendBusy)
{
if(((sent_dont_move == false) && (!appData.emulateMouse)) || (appData.emulateMouse))
{
/* This means we can send the mouse report. The
isMouseReportBusy flag is updated in the HID Event Handler. */
appData.isMouseReportSendBusy = true;
/* Create the mouse report */
MOUSE_ReportCreate(appData.xCoordinate, appData.yCoordinate,
appData.mouseButton, &mouseReport);
if(memcmp((const void *)&mouseReportPrevious, (const void *)&mouseReport,
(size_t)sizeof(mouseReport)) == 0)
{
/* Reports are same as previous report. However mouse reports
* can be same as previous report as the co-ordinate positions are relative.
* In that case it needs to be send */
if((appData.xCoordinate == 0) && (appData.yCoordinate == 0))
{
/* If the coordinate positions are 0, that means there
* is no relative change */
if(appData.idleRate == 0)
{
appData.isMouseReportSendBusy = false;
}
else
{
/* Check the idle rate here. If idle rate time elapsed
* then the data will be sent. Idle rate resolution is
* 4 msec as per HID specification; possible range is
* between 4msec >= idlerate <= 1020 msec.
*/
if(appData.setIdleTimer * APP_USB_CONVERT_TO_MILLISECOND
>= appData.idleRate * 4)
{
/* Send REPORT as idle time has elapsed */
appData.isMouseReportSendBusy = true;
}
else
{
/* Do not send REPORT as idle time has not elapsed */
appData.isMouseReportSendBusy = false;
}
}
}
}
if(appData.isMouseReportSendBusy == true)
{
/* Copy the report sent to previous */
memcpy((void *)&mouseReportPrevious, (const void *)&mouseReport,
(size_t)sizeof(mouseReport));
/* Send the mouse report. */
USB_DEVICE_HID_ReportSend(appData.hidInstance,
&appData.reportTransferHandle, (uint8_t*)&mouseReport,
sizeof(MOUSE_REPORT));
appData.setIdleTimer = 0;
}
movement_length ++;
sent_dont_move = true;
}
}
break;
case APP_STATE_ERROR:
break;
/* The default state should never be executed. */
default:
{
/* TODO: Handle error in application's state machine. */
break;
}
}
}
void APP_Tasks ( void )
{
/* Update the application state machine based
* on the current state */
switch(appData.state)
{
case APP_STATE_INIT:
/* Open the device layer */
appData.deviceHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(appData.deviceHandle != USB_DEVICE_HANDLE_INVALID)
{
appData.usartHandle = DRV_USART_Open(DRV_USART_INDEX_0,
(DRV_IO_INTENT_EXCLUSIVE|DRV_IO_INTENT_READWRITE|DRV_IO_INTENT_NONBLOCKING));
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.deviceHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
/* Check if the device was configured */
if(appData.isConfigured)
{
/* Schedule the first read from CDC function driver */
appData.state = APP_STATE_CHECK_CDC_READ;
appData.isReadComplete = false;
USB_DEVICE_CDC_Read (appData.cdcInstance, &(appData.readTransferHandle),
appData.readBuffer, APP_READ_BUFFER_SIZE);
}
break;
case APP_STATE_CHECK_CDC_READ:
if(APP_StateReset())
{
break;
}
/* If a read is complete, then schedule a read
* else check if UART has received data */
if(appData.isReadComplete == true)
{
appData.isReadComplete = false;
DRV_USART_Write(appData.usartHandle, appData.readBuffer, appData.readLength);
USB_DEVICE_CDC_Read (appData.cdcInstance, &appData.readTransferHandle,
appData.readBuffer, APP_READ_BUFFER_SIZE);
for(ii=0; ii<appData.readLength; ii++) {
if (appData.readBuffer[ii] == '\n' || appData.readBuffer[ii] == '\r'){
rx[pos] = 0;
txFlag = 1;
pos = 0;
sscanf(rx,"%d",&qq);
LATAbits.LATA4 = 1;
if (qq>0){
if(qq>500000){
OC2RS = qq-600000;
}
if(qq<500000){
OC1RS = qq-400000;
}
}
}
else {
rx[pos] = appData.readBuffer[ii];
pos++;
}
}
}
appData.state = APP_STATE_CHECK_UART_RECEIVE;
break;
case APP_STATE_CHECK_UART_RECEIVE:
if(APP_StateReset())
{
break;
}
/* Check if a character was received on the UART */
if (txFlag == 1) {
qq = 7;
char len = sprintf(tx,"qq = %d\r\n",qq);
for (ii = 0;ii<len;ii++) {
appData.uartReceivedData[ii]=tx[ii];
}
USB_DEVICE_CDC_Write(0, &appData.writeTransferHandle,
appData.uartReceivedData, len,
USB_DEVICE_CDC_TRANSFER_FLAGS_DATA_COMPLETE);
txFlag = 0;
}
appData.state = APP_STATE_CHECK_CDC_READ;
break;
case APP_STATE_ERROR:
break;
default:
break;
}
}
void APP_Tasks ( void )
{
USB_DEVICE_CDC_RESULT writeRequestResult;
//set pwm cycles
//OC1RS=num1*100;
//OC2RS=20000;
OC1RS=30000;
OC2RS=num1*100;
/* Update the application state machine based
* on the current state */
//int writeRequestResult = USB_DEVICE_CDC_Write(0, &appData.writeTransferHandle, message, len, USB_DEVICE_CDC_TRANSFER_FLAGS_DATA_COMPLETE);
switch(appData.state)
{
case APP_STATE_INIT:
/* Open the device layer */
appData.deviceHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(appData.deviceHandle != USB_DEVICE_HANDLE_INVALID)
{
appData.usartHandle = DRV_USART_Open(DRV_USART_INDEX_0,
(DRV_IO_INTENT_EXCLUSIVE|DRV_IO_INTENT_READWRITE|DRV_IO_INTENT_NONBLOCKING));
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.deviceHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
/* Check if the device was configured */
if(appData.isConfigured)
{
/* Schedule the first read from CDC function driver */
appData.state = APP_STATE_CHECK_CDC_READ;
appData.isReadComplete = false;
USB_DEVICE_CDC_Read (appData.cdcInstance, &(appData.readTransferHandle),
appData.readBuffer, 64);
}
break;
case APP_STATE_CHECK_CDC_READ:
if(APP_StateReset())
{
break;
}
/* If a read is complete, then schedule a read
* else check if UART has received data */
if(appData.isReadComplete == true)
{
appData.isReadComplete = false;
USB_DEVICE_CDC_Read (appData.cdcInstance, &appData.readTransferHandle,
appData.readBuffer, 64);
buffer[0]=appData.readBuffer[0];
if (buffer[1] == 'a') {
if (LATBbits.LATB15 == 0) { //toggle b5
LATBbits.LATB15 =1;
}
else {
LATBbits.LATB15 =0;
}
}
//DRV_USART_Write(appData.usartHandle, appData.readBuffer, appData.readLength);
}
/*
// messages come in one char at a time
// if the char is a newline, then the message is complete
if(appData.readBuffer[0]=='\n'||appData.readBuffer[0]=='\r'){
sscanf(rxbuffer,"%d %d",&num1,&num2);
rxbuffer_index = 0;
// now use num1 and num2 for whatever
}
// otherwise put the char in a buffer and increment the index
else {
rxbuffer[rxbuffer_index] = appData.readBuffer[0];
rxbuffer_index++;
// watch out for running over the buffer
if(rxbuffer_index == 100){
rxbuffer_index = 0;
}
}
*/
//phone CDC
int i = 0;
//char rxbuffer[100];
//int num1; int num2;
for(i=0;i<64;i++) {
rxbuffer[i] = appData.readBuffer[i];
}
sscanf(rxbuffer,"%d %d",&num1,&num2); //this is where the buffer is read in, num1 stores the COM
if (LATBbits.LATB15 == 0) { //toggle b15
LATBbits.LATB5 = 1;
}
if (LATBbits.LATB5 == 1) { //toggle b15
LATBbits.LATB5 = 0;
}
appData.state = APP_STATE_CHECK_UART_RECEIVE;
break;
case APP_STATE_CHECK_UART_RECEIVE:
/*if (LATBbits.LATB15 == 0) { //toggle b15
LATBbits.LATB15 = 1;
}
else {
LATBbits.LATB15 = 0;
}
*/
if(APP_StateReset())
{
break;
}
/* Check if a character was received on the UART */
/*if(DRV_USART_Read(appData.usartHandle, &appData.uartReceivedData, 1) > 0)
{
//* We have received data on the UART
USB_DEVICE_CDC_Write(0, &appData.writeTransferHandle,
&appData.uartReceivedData, 1,
USB_DEVICE_CDC_TRANSFER_FLAGS_DATA_COMPLETE);
}*/
int len = 0;
while(message[len]>0){
len++;
}
writeRequestResult = USB_DEVICE_CDC_Write(0, &appData.writeTransferHandle, message, len, USB_DEVICE_CDC_TRANSFER_FLAGS_DATA_COMPLETE);
if(USB_DEVICE_CDC_RESULT_OK != writeRequestResult) {
// turn on another led if there is an error
//LATBbits.LATB15 = 1;
}
else {
// turn off the led if there is not an error
//LATBbits.LATB15 = 0;
}
appData.state = APP_STATE_CHECK_CDC_READ;
break;
case APP_STATE_ERROR:
break;
default:
break;
}
}
void APP_Tasks ( void )
{
USB_DEVICE_CDC_RESULT writeRequestResult;
/* Update the application state machine based
* on the current state */
switch(appData.state)
{
case APP_STATE_INIT:
/* Open the device layer */
appData.deviceHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(appData.deviceHandle != USB_DEVICE_HANDLE_INVALID)
{
appData.usartHandle = DRV_USART_Open(DRV_USART_INDEX_0,
(DRV_IO_INTENT_EXCLUSIVE|DRV_IO_INTENT_READWRITE|DRV_IO_INTENT_NONBLOCKING));
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.deviceHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
/* Check if the device was configured */
if(appData.isConfigured)
{
/* Schedule the first read from CDC function driver */
appData.state = APP_STATE_CHECK_CDC_READ;
appData.isReadComplete = false;
USB_DEVICE_CDC_Read (appData.cdcInstance, &(appData.readTransferHandle),
appData.readBuffer, 64);
}
break;
case APP_STATE_CHECK_CDC_READ:
if(APP_StateReset())
{
break;
}
/* If a read is complete, then schedule a read
* else check if UART has received data */
if(appData.isReadComplete == true)
{
appData.isReadComplete = false;
USB_DEVICE_CDC_Read (appData.cdcInstance, &appData.readTransferHandle,
appData.readBuffer, 64);
int i = 0;
char rxbuffer[100];
int angle; int com1;
for(i=0;i<64;i++) {
rxbuffer[i] = appData.readBuffer[i];
}
sscanf(rxbuffer,"%d %d",&angle,&com1);
float vel=0;
vel=10000-(angle-0)*20;
if (vel<5000)
{
vel=5000;
}
float vel1 = 0;
float vel2 = 0;
float P=0.0;
vel1=vel;
vel2=vel;
float error=320-com1;
if (error>=0)
{
vel1=vel;
vel2=vel-error*300000*10000/(vel1*vel1);
if (vel2<3000)
{
vel2=3000;
}
}
else
{
vel2=vel;
vel1=vel+error*300000*10000/(vel2*vel2);
if (vel1<3000)
{
vel1=3000;
}
}
OC1RS= (int) vel1;
OC2RS= (int) vel2;
}
appData.state = APP_STATE_CHECK_UART_RECEIVE;
break;
case APP_STATE_CHECK_UART_RECEIVE:
if(APP_StateReset())
{
break;
}
/* Check if a character was received on the UART */
// if(DRV_USART_Read(appData.usartHandle, &appData.uartReceivedData, 1) > 0)
// {
// /* We have received data on the UART */
//
// USB_DEVICE_CDC_Write(0, &appData.writeTransferHandle,
// &appData.uartReceivedData, 1,
// USB_DEVICE_CDC_TRANSFER_FLAGS_DATA_COMPLETE);
//
// }
// sprintf(message,"ritwik \n");
// int len = 0;
// while(message[len]>0){
// len++;
// }
// writeRequestResult = USB_DEVICE_CDC_Write(0, &appData.writeTransferHandle, message, len, USB_DEVICE_CDC_TRANSFER_FLAGS_DATA_COMPLETE);
if(USB_DEVICE_CDC_RESULT_OK != writeRequestResult) {
// turn on another led if there is an error
}
else {
// turn off the led if there is not an error
}
appData.state = APP_STATE_CHECK_CDC_READ;
break;
case APP_STATE_ERROR:
break;
default:
break;
}
}
void APP_Tasks (void )
{
char message[25];
char inputfrompc[25];
int i;
short accels[3]; // accelerations for the 3 axes
short accelsMAF;
short accelsFIR;
int buf1=0;
int buf2=0;
int buf3=0;
int buf4=0;
int buf5=0;
//bn*1000 for FIR
float b1=.0088;
float b2=.0479;
float b3=.1640;
float b4=.2793;
float b5=.2793;
float b6=.1640;
float b7=.0479;
float b8=.0088;
int FIRbuf1=0;
int FIRbuf2=0;
int FIRbuf3=0;
int FIRbuf4=0;
int FIRbuf5=0;
int FIRbuf6=0;
int FIRbuf7=0;
int FIRbuf8=0;
//sprintf(message,"Hello!");
//use_display(20,20,message);
//display_draw();
/* Check if device is configured. See if it is configured with correct
* configuration value */
switch(appData.state)
{
case APP_STATE_INIT:
/* Open the device layer */
appData.usbDevHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(appData.usbDevHandle != USB_DEVICE_HANDLE_INVALID)
{
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.usbDevHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
if(appData.deviceConfigured == true)
{
/* Device is ready to run the main task */
appData.hidDataReceived = false;
appData.hidDataTransmitted = true;
appData.state = APP_STATE_MAIN_TASK;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64);
}
break;
case APP_STATE_MAIN_TASK:
if(!appData.deviceConfigured)
{
/* Device is not configured */
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else if( appData.hidDataReceived )
{
/* Look at the data the host sent, to see what
* kind of application specific command it sent. */
switch(appData.receiveDataBuffer[0])
{
case 0x80:
/* Toggle on board LED1 to LED2. */
BSP_LEDToggle( APP_USB_LED_1 );
BSP_LEDToggle( APP_USB_LED_2 );
for (i=0; i<8; i++){
inputfrompc[i] = appData.receiveDataBuffer[i+1];
}
use_display(20,20,inputfrompc);
display_draw();
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
break;
case 0x81:
if(appData.hidDataTransmitted)
{
/* Echo back to the host PC the command we are fulfilling in
* the first byte. In this case, the Get Push-button State
* command. */
appData.transmitDataBuffer[0] = 0x81;
acc_read_register(OUT_X_L_A, (unsigned char *) accels, 6);
sprintf(message,"Z: %d",accels[0]);
use_display(10,10,message);
display_draw();
if(_CP0_GET_COUNT()>800000){
appData.transmitDataBuffer[1] = 1;
appData.transmitDataBuffer[2] = accels[0]>>8;
appData.transmitDataBuffer[3] = accels[0]&0xFF;
//use MAF buffer values to calculate accelsMAF
accelsMAF = ((buf1+buf2+buf3+buf4+buf5+accels[0])/6);
//change MAF buffer values
buf5=buf4;
buf4=buf3;
buf3=buf2;
buf2=buf1;
buf1=accels[0];
//change FIR buffer values
FIRbuf8=FIRbuf7;
FIRbuf7=FIRbuf6;
FIRbuf6=FIRbuf5;
FIRbuf5=FIRbuf4;
FIRbuf4=FIRbuf3;
FIRbuf3=FIRbuf2;
FIRbuf2=FIRbuf1;
FIRbuf1=accels[0];
//FIR Filtering calculations
accelsFIR = (b1*FIRbuf1)+(b2*FIRbuf2)+(b3*FIRbuf3)+(b4*FIRbuf4)+(b5*FIRbuf5)+(b6*FIRbuf6)+(b7*FIRbuf7)+(b8*FIRbuf8);
appData.transmitDataBuffer[4] = accelsMAF>>8;
appData.transmitDataBuffer[5] = accelsMAF&0xFF;
appData.transmitDataBuffer[6] = accelsFIR>>8;
appData.transmitDataBuffer[7] = accelsFIR&0xFF;
_CP0_SET_COUNT(0);
}
else{appData.transmitDataBuffer[1]=0;}
appData.hidDataTransmitted = false;
/* Prepare the USB module to send the data packet to the host */
USB_DEVICE_HID_ReportSend (USB_DEVICE_HID_INDEX_0,
&appData.txTransferHandle, appData.transmitDataBuffer, 64 );
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
}
break;
default:
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
break;
}
void APP_Tasks (void )
{
/* Check if device is configured. See if it is configured with correct
* configuration value */
switch(appData.state)
{
case APP_STATE_INIT:
/* Open the device layer */
appData.usbDevHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(appData.usbDevHandle != USB_DEVICE_HANDLE_INVALID)
{
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.usbDevHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
if(appData.deviceConfigured == true)
{
/* Device is ready to run the main task */
appData.hidDataReceived = false;
appData.hidDataTransmitted = true;
appData.state = APP_STATE_MAIN_TASK;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64);
}
break;
case APP_STATE_MAIN_TASK:
if(!appData.deviceConfigured)
{
/* Device is not configured */
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else if( appData.hidDataReceived )
{
/* Look at the data the host sent, to see what
* kind of application specific command it sent. */
switch(appData.receiveDataBuffer[0])
{
case 0x80:
/* Toggle on board LED1 to LED2. */
BSP_LEDToggle( APP_USB_LED_1 );
BSP_LEDToggle( APP_USB_LED_2 );
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
break;
case 0x81:
if(appData.hidDataTransmitted)
{
/* Echo back to the host PC the command we are fulfilling in
* the first byte. In this case, the Get Push-button State
* command. */
appData.transmitDataBuffer[0] = 0x81;
if( BSP_SwitchStateGet(APP_USB_SWITCH_1) == BSP_SWITCH_STATE_PRESSED )
{
appData.transmitDataBuffer[1] = 0x00;
}
else
{
appData.transmitDataBuffer[1] = 0x01;
}
appData.hidDataTransmitted = false;
/* Prepare the USB module to send the data packet to the host */
USB_DEVICE_HID_ReportSend (USB_DEVICE_HID_INDEX_0,
&appData.txTransferHandle, appData.transmitDataBuffer, 64 );
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
}
break;
default:
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
break;
}
}
case APP_STATE_ERROR:
break;
default:
break;
}
}
void APP_Tasks ( void )
{
/* Update the application state machine based
* on the current state */
switch(appData.state)
{
case APP_STATE_INIT:
/* Open the device layer */
appData.deviceHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(appData.deviceHandle != USB_DEVICE_HANDLE_INVALID)
{
appData.usartHandle = DRV_USART_Open(DRV_USART_INDEX_0,
(DRV_IO_INTENT_EXCLUSIVE|DRV_IO_INTENT_READWRITE|DRV_IO_INTENT_NONBLOCKING));
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.deviceHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
/* Check if the device was configured */
if(appData.isConfigured)
{
/* Schedule the first read from CDC function driver */
appData.state = APP_STATE_CHECK_CDC_READ;
appData.isReadComplete = false;
USB_DEVICE_CDC_Read (appData.cdcInstance, &(appData.readTransferHandle),
appData.readBuffer, APP_READ_BUFFER_SIZE);
}
break;
case APP_STATE_CHECK_CDC_READ:
if(APP_StateReset())
{
break;
}
/* If a read is complete, then schedule a read
* else check if UART has received data */
if(appData.isReadComplete == true)
{
appData.isReadComplete = false;
DRV_USART_Write(appData.usartHandle, appData.readBuffer, appData.readLength);
USB_DEVICE_CDC_Read (appData.cdcInstance, &appData.readTransferHandle,
appData.readBuffer, APP_READ_BUFFER_SIZE);
}
appData.state = APP_STATE_CHECK_UART_RECEIVE;
break;
case APP_STATE_CHECK_UART_RECEIVE:
if(APP_StateReset())
{
break;
}
/* Check if a character was received on the UART */
if(DRV_USART_Read(appData.usartHandle, appData.uartReceivedData, 1) > 0)
{
/* We have received data on the UART */
USB_DEVICE_CDC_Write(0, &appData.writeTransferHandle,
appData.uartReceivedData, 1,
USB_DEVICE_CDC_TRANSFER_FLAGS_DATA_COMPLETE);
}
appData.state = APP_STATE_CHECK_CDC_READ;
break;
case APP_STATE_ERROR:
break;
default:
break;
}
}
void APP_Tasks (void )
{
unsigned char print[26];
int jj = 0,row;
short accels[3];
/* Check if device is configured. See if it is configured with correct
* configuration value */
switch(appData.state)
{
case APP_STATE_INIT:
/* Open the device layer */
appData.usbDevHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(appData.usbDevHandle != USB_DEVICE_HANDLE_INVALID)
{
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.usbDevHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
if(appData.deviceConfigured == true)
{
/* Device is ready to run the main task */
appData.hidDataReceived = false;
appData.hidDataTransmitted = true;
appData.state = APP_STATE_MAIN_TASK;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64);
}
break;
case APP_STATE_MAIN_TASK:
if(!appData.deviceConfigured)
{
/* Device is not configured */
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else if( appData.hidDataReceived )
{
/* Look at the data the host sent, to see what
* kind of application specific command it sent. */
switch(appData.receiveDataBuffer[0])
{
case 0x1:
/* Toggle on board LED1 to LED2. */
BSP_LEDToggle( APP_USB_LED_1 );
BSP_LEDToggle( APP_USB_LED_2 );
memcpy(print,&appData.receiveDataBuffer[2],25);
print[26] = '\0';
display_clear();
write_OLED_message(print,appData.receiveDataBuffer[1],0);
display_draw();
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
_CP0_SET_COUNT(0);
break;
case 0x2:
if(appData.hidDataTransmitted)
{
/* Echo back to the host PC the command we are fulfilling in
* the first byte. In this case, the Get Push-button State
* command. */
BSP_LEDToggle( APP_USB_LED_1 );
BSP_LEDToggle( APP_USB_LED_2 );
if(_CP0_GET_COUNT() > 200000){
appData.transmitDataBuffer[0] = 1;
acc_read_register(OUT_X_L_A,(unsigned char *) accels, 6);
appData.transmitDataBuffer[1] = accels[0] >> 8;
appData.transmitDataBuffer[2] = accels[0];
appData.transmitDataBuffer[3] = accels[1] >> 8;
appData.transmitDataBuffer[4] = accels[1];
appData.transmitDataBuffer[5] = accels[2] >> 8;
appData.transmitDataBuffer[6] = accels[2];
_CP0_SET_COUNT(0);
}
else{
appData.transmitDataBuffer[0] = 0;
}
// appData.transmitDataBuffer[0] = 0x81;
//
// if( BSP_SwitchStateGet(APP_USB_SWITCH_1) == BSP_SWITCH_STATE_PRESSED )
// {
// appData.transmitDataBuffer[1] = 0x00;
// }
// else
// {
// appData.transmitDataBuffer[1] = 0x01;
// }
appData.hidDataTransmitted = false;
/* Prepare the USB module to send the data packet to the host */
USB_DEVICE_HID_ReportSend (USB_DEVICE_HID_INDEX_0,
&appData.txTransferHandle, appData.transmitDataBuffer, 64 );
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
}
break;
default:
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
break;
}
void APP_Tasks(void) {
/* Check if device is configured. See if it is configured with correct
* configuration value */
switch (appData.state) {
case APP_STATE_INIT:
/* Open the device layer */
appData.usbDevHandle = USB_DEVICE_Open(USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE);
if (appData.usbDevHandle != USB_DEVICE_HANDLE_INVALID) {
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.usbDevHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
} else {
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
if (appData.deviceConfigured == true) {
/* Device is ready to run the main task */
appData.hidDataReceived = false;
appData.hidDataTransmitted = true;
appData.state = APP_STATE_MAIN_TASK;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive(USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64);
}
break;
case APP_STATE_MAIN_TASK:
if (!appData.deviceConfigured) {
/* Device is not configured */
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
} else if (appData.hidDataReceived) {
/* Look at the data the host sent, to see what
* kind of application specific command it sent. */
switch (appData.receiveDataBuffer[0]) {
case 0x80:
/* Toggle on board LED1 to LED2. */
BSP_LEDToggle(APP_USB_LED_1);
BSP_LEDToggle(APP_USB_LED_2);
setRTR();
break;
case 0x81:
if (appData.hidDataTransmitted) {
/* Echo back to the host PC the command we are fulfilling in
* the first byte. In this case, the Get Push-button State
* command. */
appData.transmitDataBuffer[0] = 0x81;
appData.transmitDataBuffer[1] = 0b1 & BSP_SwitchStateGet(APP_USB_SWITCH_1);
appData.transmitDataBuffer[2] = 111;
setRTS();
setRTR();
}
break;
case 0x82:
if (!appData.numTX || _CP0_GET_COUNT() > 200000) {
//prepare new data to send
acc_read_register(OUT_X_L_A, (unsigned char *) appData.accels, 6);
appData.transmitDataBuffer[0] = 1; //we have data to send
appData.transmitDataBuffer[1] = appData.accels[0] >> 8; //x high byte
appData.transmitDataBuffer[2] = appData.accels[0] & 0xFF; //x low byte
appData.transmitDataBuffer[3] = appData.accels[1] >> 8; //y high byte
appData.transmitDataBuffer[4] = appData.accels[1] & 0xFF; //y low byte
appData.transmitDataBuffer[5] = appData.accels[2] >> 8; //z high byte
appData.transmitDataBuffer[6] = appData.accels[2] & 0xFF; //z low byte
// reset core timer for 100 hz
_CP0_SET_COUNT(0);
appData.numTX++;
}
else {
appData.transmitDataBuffer[0] = 0; // we don't have new data
}
setRTS();
setRTR();
break;
case 0x83:
// prepare for a bout of sending accel data
//parse incoming data to screen
oled_clear_buffer();
int row = appData.receiveDataBuffer[1];
char * msg;
msg = &appData.receiveDataBuffer[2];
oled_draw_string(0, row, msg, 1);
oled_update();
// clear buffered accel data so we read new data to send
acc_read_register(OUT_X_L_A, (unsigned char *) appData.accels, 6);
appData.numTX = 0; //we're starting over
setRTR();
break;
case 0x84:
// done asking for data
oled_draw_string(0, 55, "Done!", 1);
oled_update();
setRTR();
break;
default:
setRTR();
break;
}
}