void main(){
if (wiringPiSetup() == -1) {printf("pi setup error\n");exit(1);}
init_led_pins();
sleeper.tv_sec = 0;
sleeper.tv_nsec = 1 * 1000000 ;
sleeper2.tv_sec = 0;
sleeper2.tv_nsec = 1 * 200000000 ;
unsigned char c_ne;
unsigned char c_nw;
unsigned char c_se;
unsigned char c_sw;
int rc,old_scheduler_policy;
struct sched_param my_params;
old_scheduler_policy=sched_getscheduler(0);
my_params.sched_priority=sched_get_priority_max(SCHED_RR);
rc=sched_setscheduler(0,SCHED_RR,&my_params);
if(rc<0){
perror("sched_setscheduler to SCHED_RR error");
exit(0);
}
old_scheduler_policy=sched_getscheduler(0);
rc=sched_setscheduler(0,SCHED_FIFO,&my_params);
if(rc<0){
perror("sched_setscheduler to SCHED_FIFO error");
exit(0);
}
old_scheduler_policy=sched_getscheduler(0);
FILE *f;
int i = 0;
int rest = 0;
char buf[255];
int status = 0; // 0:loading, 1:playing_time, 2:stop, 3:cry, 4:qrcode, 5:qr_success
int time = 0;
while (1) {
if (rest <= 0) status = 0;
if(status == 0 && (f=fopen("/dev/shm/led_camera.buf","rb"))!=NULL){
fgets(buf, 255, f);
if (buf[0] == '2') {
status = 5;
} else if (buf[0] == '1' ) {
status = 4;
}
fclose(f);
}
if(status == 0 && (f=fopen("/dev/shm/led_network.buf","rb"))!=NULL){
fgets(buf, 255, f);
if (buf[0] == '1' ) {
status = 3;
}
fclose(f);
}
if(status == 0 && (f=fopen("/dev/shm/led_ce.buf","rb"))!=NULL){
fgets(buf, 255, f);
if (strlen(buf) > 0) {
if (buf[0] == 'p'){
status = 2;
}else{
status = 1;
sscanf(buf, "%d", &time);
}
}
fclose(f);
}
switch(status){
case 0:
print_loading(i);
break;
case 1:
print_time(time);
if (rest <= 0) rest = 20;
break;
case 2:
print_led(stop);
if (rest <= 0) rest = 20;
break;
case 3:
print_led(cry);
if (rest <= 0) rest = 20;
break;
case 4:
print_led(qrcode);
if (rest <= 0) rest = 20;
break;
case 5:
print_led(right);
if (rest <= 0) rest = 20;
break;
}
i++;
rest--;
}
}
int main (void)
{
/* Insert system clock initialization code here (sysclk_init()). */
board_init();
sysclk_init();
ioport_init();
/* Insert application code here, after the board has been initialized. */
//Own variables
bool running = true;
bool error = false;
uint8_t spi_counter = 0;
//Testdata
uint32_t testdata = 0;
//Create command & data storage
uint8_t commandUSART[NUMBER_CTRL_BYTES];
uint8_t commandSPI[NUMBER_CTRL_BYTES];
//Memory
uint8_t write_page[EEPROM_PAGE_SIZE];
uint8_t read_page[EEPROM_PAGE_SIZE];
//Own inits
init_led_pins();
//Boot sequence initiated
switch_led(BOOT, true);
init_usart_driver(PIN3_bm, PIN2_bm, &USART_data_Stepper, &USARTD0);
init_usart_driver(PIN3_bm, PIN2_bm, &USART_data_PreAmp, &USARTC0);
//Test blinking
for(int i = 0; i < 10; i++)
{
blink_led(BOOT, 100);
blink_led(RUNNING, 50);
blink_led(RXTX, 50);
blink_led(FAILURE, 100);
blink_led(RXTX, 50);
blink_led(RUNNING, 50);
}
//Load Stuff from memory, no clue what I should load
memset(read_page, 0x0, EEPROM_PAGE_SIZE);
nvm_eeprom_read_buffer(POSITION_ADDR, read_page, EEPROM_PAGE_SIZE);
testdata = ((uint32_t)read_page[3] << 24) | ((uint32_t)read_page[2] << 16) | ((uint32_t)read_page[1] << 8) | read_page[0];
memset(read_page, 0x0, EEPROM_PAGE_SIZE);
nvm_eeprom_read_buffer(SPEED_ADDR, read_page, EEPROM_PAGE_SIZE);
//currentSpeed = ((uint32_t)read_page[0] << 24) | ((uint32_t)read_page[1] << 16) | ((uint32_t)read_page[2] << 8) | read_page[3];
memset(read_page, 0x0, EEPROM_PAGE_SIZE);
//Boot sequence finished
switch_led(BOOT, false);
//Test of data
if(testdata != 3)
{
switch_led(RXTX, true);
//testdata = 10;
}
else
switch_led(RUNNING, true);
delay_ms(1000);
testdata = 3;
//End of test data;
if(error != true)
{
memset(write_page, 0x0, EEPROM_PAGE_SIZE);
write_page[3] = testdata >> 24;
write_page[2] = testdata >> 16;
write_page[1] = testdata >> 8;
write_page[0] = testdata;
nvm_eeprom_load_page_to_buffer(write_page);
nvm_eeprom_atomic_write_page(POSITION_ADDR);
memset(write_page, 0x0, EEPROM_PAGE_SIZE);
write_page[3] = testdata >> 24;
write_page[2] = testdata >> 16;
write_page[1] = testdata >> 8;
write_page[0] = testdata;
nvm_eeprom_load_page_to_buffer(write_page);
nvm_eeprom_atomic_write_page(POSITION_ADDR);
memset(write_page, 0x0, EEPROM_PAGE_SIZE);
switch_led(RUNNING, false);
switch_led(RXTX, true);
switch_led(BOOT, true);
//Shutdown procedure can be executed
}
