int ComThread::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QThread::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: switch_led((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< bool(*)>(_a[2]))); break;
case 1: update_lcd((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< float(*)>(_a[2]))); break;
case 2: update_mbrtu((*reinterpret_cast< char*(*)>(_a[1]))); break;
default: ;
}
_id -= 3;
}
return _id;
}
int main(int argc, char **argv) {
// initialize gpio17 that is hooked up to the switch
if(init_gpio()) {
perror("could not initialize gpio17");
return 1;
}
// S points to the switch values structure
SWITCH_T * S = init_switch();
while(1) {
// read the switch values
if(get_debounce_vals(S)) {
perror("could not read values");
}
// print the state of the switch and light led accordingly
switch_led(S);
}
return 0;
}
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
}
