/*!
* \brief Performs a turn while doing backward line following.
* \return Returns TRUE while turn is still in progress.
*/
static uint8_t EvaluateTurnBw(void) {
REF_LineKind historyLineKind, currLineKind;
TURN_Kind turn;
REF_ClearHistory(); /* clear values */
REF_SampleHistory(); /* store current values */
TURN_Turn(TURN_STEP_LINE_BW); /* make step over line */
historyLineKind = REF_HistoryLineKind(); /* new read new values */
currLineKind = REF_GetLineKind();
#if LINE_DEBUG
REF_DumpHistory();
CLS1_SendStr((unsigned char*)" history: ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)REF_LineKindStr(historyLineKind), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)" curr: ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)REF_LineKindStr(currLineKind), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
turn = MAZE_SelectTurnBw(historyLineKind, currLineKind);
if (turn==TURN_STOP) { /* should not happen here? */
ChangeState(STATE_STOP);
CLS1_SendStr((unsigned char*)"stopped\r\n", CLS1_GetStdio()->stdOut);
return ERR_FAILED; /* error case */
} else { /* turn or do something */
#if LINE_DEBUG
CLS1_SendStr((unsigned char*)"bw turning ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)TURN_TurnKindStr(turn), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
TURN_Turn(TURN_STEP_LINE_FW); /* step over intersection */
TURN_Turn(TURN_STEP_POST_LINE_FW); /* step past intersection */
TURN_Turn(turn); /* make turn */
MAZE_AddPath(MirrorTurn(turn));
MAZE_SimplifyPath();
return ERR_OK; /* turn finished */
}
}
/*!
* \brief Performs a turn.
* \return Returns TRUE while turn is still in progress.
*/
static uint8_t EvaluteTurn(bool *finished, bool *deadEndGoBw) {
REF_LineKind historyLineKind, currLineKind;
TURN_Kind turn;
*finished = FALSE; /* defaults */
*deadEndGoBw = FALSE; /* default */
currLineKind = REF_GetLineKind();
if (currLineKind==REF_LINE_NONE) { /* nothing, must be dead end */
#if PL_GO_DEADEND_BW
TURN_Turn(TURN_STEP_BW); /* step back so we are again on the line for line following */
turn = TURN_STRAIGHT;
*deadEndGoBw = TRUE;
#else
turn = TURN_LEFT180;
#endif
} else {
REF_ClearHistory(); /* clear values */
REF_SampleHistory(); /* store current values */
TURN_Turn(TURN_STEP_LINE_FW); /* make forward step over line */
historyLineKind = REF_HistoryLineKind(); /* new read new values */
currLineKind = REF_GetLineKind();
#if LINE_DEBUG
REF_DumpHistory();
CLS1_SendStr((unsigned char*)" history: ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)REF_LineKindStr(historyLineKind), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)" curr: ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)REF_LineKindStr(currLineKind), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
turn = MAZE_SelectTurn(historyLineKind, currLineKind);
}
if (turn==TURN_FINISHED) {
*finished = TRUE;
ChangeState(STATE_STOP);
CLS1_SendStr((unsigned char*)"finished!\r\n", CLS1_GetStdio()->stdOut);
return ERR_OK;
} else if (turn==TURN_STRAIGHT && *deadEndGoBw) {
MAZE_AddPath(TURN_LEFT180); /* would have been a turn around */
MAZE_SimplifyPath();
CLS1_SendStr((unsigned char*)"going backward\r\n", CLS1_GetStdio()->stdOut);
return ERR_OK;
} else if (turn==TURN_STRAIGHT) {
MAZE_AddPath(turn);
MAZE_SimplifyPath();
CLS1_SendStr((unsigned char*)"going straight\r\n", CLS1_GetStdio()->stdOut);
return ERR_OK;
} else if (turn==TURN_STOP) { /* should not happen here? */
ChangeState(STATE_STOP);
CLS1_SendStr((unsigned char*)"stopped\r\n", CLS1_GetStdio()->stdOut);
return ERR_FAILED; /* error case */
} else { /* turn or do something */
#if LINE_DEBUG
CLS1_SendStr((unsigned char*)"turning ", CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)TURN_TurnKindStr(turn), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
if (turn==TURN_LEFT90 || turn==TURN_RIGHT90) {
TURN_Turn(TURN_STEP_POST_LINE_FW); /* step before doing the turn so we turn on the middle of the intersection */
}
TURN_Turn(turn); /* make turn */
MAZE_AddPath(turn);
MAZE_SimplifyPath();
return ERR_OK; /* turn finished */
}
}
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*)" state", REF_GetStateString(), io->stdOut);
CLS1_SendStr((unsigned char*)"\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);
CLS1_SendStatusStr((unsigned char*)" raw val", (unsigned char*)"", io->stdOut);
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
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);
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorCalibMinMax.minVal[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" max val", (unsigned char*)"", io->stdOut);
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
CLS1_SendStr((unsigned char*)"0x", io->stdOut);
} else {
CLS1_SendStr((unsigned char*)" 0x", io->stdOut);
}
buf[0] = '\0'; UTIL1_strcatNum16Hex(buf, sizeof(buf), SensorCalibMinMax.maxVal[i]);
CLS1_SendStr(buf, io->stdOut);
}
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((unsigned char*)" calib val", (unsigned char*)"", io->stdOut);
for (i=0;i<REF_NOF_SENSORS;i++) {
if (i==0) {
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_CONFIG_HAS_LINE_FOLLOW
CLS1_SendStatusStr((unsigned char*)" line kind", REF_LineKindStr(refLineKind), io->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", io->stdOut);
#endif
return ERR_OK;
}
uint8_t TURN_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
const unsigned char *p;
uint8_t val8u;
uint16_t val16u;
if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn help")==0) {
TURN_PrintHelp(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn status")==0) {
TURN_PrintStatus(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn left")==0) {
TURN_Turn(TURN_LEFT90, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn right")==0) {
TURN_Turn(TURN_RIGHT90, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn around")==0) {
TURN_Turn(TURN_LEFT180, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn forward")==0) {
REF_ClearHistory(); /* clear values */
TURN_Turn(TURN_STEP_FW, FALSE);
TURN_Turn(TURN_STOP, FALSE);
CLS1_SendStr((unsigned char*)REF_LineKindStr(REF_HistoryLineKind()), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn backward")==0) {
TURN_Turn(TURN_STEP_BW, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn duty ", sizeof("turn duty ")-1)==0) {
p = cmd+sizeof("turn duty");
if (UTIL1_ScanDecimal8uNumber(&p, &val8u)==ERR_OK && val8u<=100) {
TURN_DutyPercent = val8u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument, must be in the range -100..100\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn time ", sizeof("turn time ")-1)==0) {
p = cmd+sizeof("turn time");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_TimeMs = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn step ", sizeof("turn step ")-1)==0) {
p = cmd+sizeof("turn step");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_StepMs = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
}
return res;
}
uint8_t TURN_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
const unsigned char *p;
#if !PL_HAS_QUADRATURE
uint8_t val8u;
#endif
uint16_t val16u;
if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn help")==0) {
TURN_PrintHelp(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn status")==0) {
TURN_PrintStatus(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn left 45")==0) {
TURN_Turn(TURN_LEFT45);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn left 90")==0) {
TURN_Turn(TURN_LEFT90);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn right 45")==0) {
TURN_Turn(TURN_RIGHT45);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn right 90")==0) {
TURN_Turn(TURN_RIGHT90);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn around")==0) {
TURN_Turn(TURN_LEFT180);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn forward")==0) {
#if PL_APP_LINE_MAZE
REF_ClearHistory(); /* clear values */
#endif
TURN_Turn(TURN_STEP_FW);
TURN_Turn(TURN_STOP);
#if PL_APP_LINE_MAZE
CLS1_SendStr((unsigned char*)REF_LineKindStr(REF_HistoryLineKind()), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn backward")==0) {
TURN_Turn(TURN_STEP_BW);
TURN_Turn(TURN_STOP);
*handled = TRUE;
#if PL_HAS_QUADRATURE
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn steps90 ", sizeof("turn steps90 ")-1)==0) {
p = cmd+sizeof("turn steps90");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_Steps90 = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn stepsfw ", sizeof("turn stepsfw ")-1)==0) {
p = cmd+sizeof("turn stepsfw");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_StepsFwBw = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
#else
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn duty ", sizeof("turn duty ")-1)==0) {
p = cmd+sizeof("turn duty");
if (UTIL1_ScanDecimal8uNumber(&p, &val8u)==ERR_OK && val8u<=100) {
TURN_DutyPercent = val8u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument, must be in the range -100..100\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn time90 ", sizeof("turn time90 ")-1)==0) {
p = cmd+sizeof("turn time90");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_Time90ms = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn timefw ", sizeof("turn timefw ")-1)==0) {
p = cmd+sizeof("turn timefw");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_StepFwBwMs = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
#endif
}
return res;
}
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 */
}
}
