bool_t gadcLowSpeedStart(uint32_t physdev, adcsample_t *buffer, GADCCallbackFunction fn, void *param) {
struct lsdev *p;
DoInit();
/* Start the Low Speed Timer */
chMtxLock(&gadcmutex);
if (!gtimerIsActive(&LowSpeedGTimer))
gtimerStart(&LowSpeedGTimer, LowSpeedGTimerCallback, NULL, TRUE, TIME_INFINITE);
/* Find a slot */
for(p = ls; p < &ls[GADC_MAX_LOWSPEED_DEVICES]; p++) {
if (!(p->flags & GADC_FLG_ISACTIVE)) {
/* We know we have a slot - this should never wait anyway */
chSemWaitTimeout(&gadcsem, TIME_IMMEDIATE);
p->lld.physdev = physdev;
p->lld.buffer = buffer;
p->fn = fn;
p->param = param;
p->flags = GADC_FLG_ISACTIVE;
chMtxUnlock();
StartADC(FALSE);
return TRUE;
}
}
chMtxUnlock();
return FALSE;
}
static void LowSpeedGTimerCallback(void *param) {
(void) param;
GADCCallbackFunction fn;
void *prm;
adcsample_t *buffer;
struct lsdev *p;
#if ADC_ISR_FULL_CODE_BUG
/* Ensure the ADC is running if it needs to be - Bugfix HACK */
StartADC(FALSE);
#endif
/**
* Look for completed low speed timers.
* We don't need to take the mutex as we are the only place that things are freed and we
* do that atomically.
*/
for(p=ls; p < &ls[GADC_MAX_LOWSPEED_DEVICES]; p++) {
if ((p->flags & (GADC_FLG_ISACTIVE|GADC_FLG_ISDONE)) == (GADC_FLG_ISACTIVE|GADC_FLG_ISDONE)) {
/* This item is done - perform its callback */
fn = p->fn; // Save the callback details
prm = p->param;
buffer = p->lld.buffer;
p->fn = 0; // Needed to prevent the compiler removing the local variables
p->param = 0; // Needed to prevent the compiler removing the local variables
p->lld.buffer = 0; // Needed to prevent the compiler removing the local variables
p->flags = 0; // The slot is available (indivisible operation)
chSemSignal(&gadcsem); // Tell everyone
fn(buffer, prm); // Perform the callback
}
}
}
void Analog_scan(void)
{
StartADC();
adc[0] += (REG_AD_CH0_BUF - adc[0] + 4) / 8;
adc[1] += (REG_AD_CH1_BUF - adc[1] + 4) / 8;
adc[2] += (REG_AD_CH2_BUF - adc[2] + 4) / 8;
StopADC();
}
void gadcHighSpeedStart(void) {
DoInit();
/* If its already going we don't need to do anything */
if (hs.flags & GADC_FLG_ISACTIVE)
return;
gadc_lld_start_timer(hs.lld.physdev, hs.frequency);
hs.flags = GADC_FLG_ISACTIVE;
StartADC(FALSE);
}
void gadcHighSpeedStop(void) {
DoInit();
if (hs.flags & GADC_FLG_ISACTIVE) {
/* No more from us */
hs.flags = 0;
gadc_lld_stop_timer(hs.lld.physdev);
/*
* We have to pass TRUE to StartADC() as we might have the ADC marked as active when it isn't
* due to stopping the timer while it was converting.
*/
StartADC(TRUE);
}
}
void Analog_initialise(void)
{
static bool initialised = false;
if (!initialised) {
initialised = true;
StartADC();
adc[0] = REG_AD_CH0_BUF;
adc[1] = REG_AD_CH1_BUF;
adc[2] = REG_AD_CH2_BUF;
StopADC();
}
int i;
for (i = 0; i < 12; ++i) {
Analog_scan();
}
}
void gadcLowSpeedGet(uint32_t physdev, adcsample_t *buffer) {
struct lsdev *p;
BSEMAPHORE_DECL(mysem, TRUE);
/* Start the Low Speed Timer */
chMtxLock(&gadcmutex);
if (!gtimerIsActive(&LowSpeedGTimer))
gtimerStart(&LowSpeedGTimer, LowSpeedGTimerCallback, NULL, TRUE, TIME_INFINITE);
chMtxUnlock();
while(1) {
/* Wait for an available slot */
chSemWait(&gadcsem);
/* Find a slot */
chMtxLock(&gadcmutex);
for(p = ls; p < &ls[GADC_MAX_LOWSPEED_DEVICES]; p++) {
if (!(p->flags & GADC_FLG_ISACTIVE)) {
p->lld.physdev = physdev;
p->lld.buffer = buffer;
p->fn = BSemSignalCallback;
p->param = &mysem;
p->flags = GADC_FLG_ISACTIVE;
chMtxUnlock();
StartADC(FALSE);
chBSemWait(&mysem);
return;
}
}
chMtxUnlock();
/**
* We should never get here - the count semaphore must be wrong.
* Decrement it and try again.
*/
}
}
int main(void)
{
unsigned char dev1_access, dev2_access, dev3_access, dev4_access, dev5_access, dev6_access, dev7_access, dev8_access; // Indique si les informations ont bien été prise du capteur
init(); // Initialisations globales
dev1_access = initDS7505(ADD1_DS7505); // Initialiser le capteur de T° n°1
dev2_access = initDS7505(ADD2_DS7505); // Initialiser le capteur de T° n°2
dev3_access = initDS7505(ADD3_DS7505); // Initialiser le capteur de T° n°3
dev4_access = initDS7505(ADD4_DS7505); // Initialiser le capteur de T° n°4
dev5_access = initDS7505(ADD5_DS7505); // Initialiser le capteur de T° n°5
dev6_access = initDS7505(ADD6_DS7505); // Initialiser le capteur de T° n°6
dev7_access = initDS7505(ADD7_DS7505); // Initialiser le capteur de T° n°7
dev8_access = initDS7505(ADD8_DS7505); // Initialiser le capteur de T° n°8
/* boucle infinie */
for(;;)
{
if( data[0] != 0x00 ) // Envoie des informations à la foxboard
{
switch(data[0])
{
case CMD_INCLINAISON : // Envoie les informations d'inclinaisons du sous-marin
transmission(CMD_INCLINAISON, ACCL, ACCH);
break;
case CMD_HYGROMETRE1 : // Envoie les informations d'humidité du premier capteur hygrométrique
transmission(CMD_HYGROMETRE1, HUM1L, HUM1H);
break;
case CMD_HYGROMETRE2 : // Envoie les informations d'humidité du deuxième capteur hygrométrique
transmission(CMD_HYGROMETRE2, HUM2L, HUM2H);
break;
case CMD_BALLAST : // Envoie les informations de la position du ballast
transmission(CMD_BALLAST, IMP1L, IMP1H);
break;
case CMD_SYSTEME_BALLAST : // Envoie les informations de la position du chariot portant le ballast
transmission(CMD_SYSTEME_BALLAST, IMP2L, IMP2H);
break;
case CMD_TEMP1 : // Envoie les informations de température du premier capteur
dev1_access = get_DS7505_Devices(ADD1_DS7505, listTemp); // Récupérer T° capteur n°1
convertTemp(listTemp, tempResult);
TEMP1H = tempResult[0];
TEMP1L = tempResult[1];
transmission(CMD_TEMP1, TEMP1L, TEMP1H);
break;
case CMD_TEMP2 : // Envoie les informations de température du deuxième capteur
dev2_access = get_DS7505_Devices(ADD3_DS7505, listTemp); // Récupérer T° capteur n°2
convertTemp(listTemp, tempResult);
TEMP2H = tempResult[0];
TEMP2L = tempResult[1];
transmission(CMD_TEMP2, TEMP2L, TEMP2H);
break;
case CMD_TEMP3 : // Envoie les informations de température du troisième capteur
dev3_access = get_DS7505_Devices(ADD3_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP3H = tempResult[0];
TEMP3L = tempResult[1];
transmission(CMD_TEMP3, TEMP3L, TEMP3H);
break;
case CMD_TEMP4 : // Envoie les informations de température du quatrième capteur
dev4_access = get_DS7505_Devices(ADD4_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP4H = tempResult[0];
TEMP4L = tempResult[1];
transmission(CMD_TEMP4,TEMP4L, TEMP4H);
break;
case CMD_TEMP5 : // Envoie les informations de température du cinquième capteur
dev5_access = get_DS7505_Devices(ADD5_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP5H = tempResult[0];
TEMP5L = tempResult[1];
transmission(CMD_TEMP5, TEMP5L, TEMP5H);
break;
case CMD_TEMP6 : // Envoie les informations de température du sixième capteur
dev6_access = get_DS7505_Devices(ADD6_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP6H = tempResult[0];
TEMP6L = tempResult[1];
transmission(CMD_TEMP6, TEMP6L, TEMP6H);
break;
case CMD_TEMP7 : // Envoie les informations de température du septième capteur
dev7_access = get_DS7505_Devices(ADD7_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP7H = tempResult[0];
TEMP7L = tempResult[1];
transmission(CMD_TEMP7, TEMP7L, TEMP7H);
break;
case CMD_TEMP8 : // Envoie les informations de température du huitième capteur
dev8_access = get_DS7505_Devices(ADD8_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP8H = tempResult[0];
TEMP8L = tempResult[1];
transmission(CMD_TEMP8, TEMP8L, TEMP8H);
break;
case CMD_PROFONDEUR : // Envoie les informations de pression reçue par le capteur de pression comme indicatif de la profondeur
StartADC(0);
ReadADC(listTemp);
ADC1L = listTemp[0];
ADC1H = listTemp[1];
transmission(CMD_PROFONDEUR, ADC1L, ADC1H);
cbiBF(PORTD,2);
cbiBF(PORTD,3);
sbiBF(PORTD,4);
break;
case CMD_ADC2 : // Envoie les informations du deuxième convertisseur ADC
StartADC(1);
ReadADC(listTemp);
ADC2L = listTemp[0];
ADC2H = listTemp[1];
transmission(CMD_ADC2, ADC2L, ADC2H);
sbiBF(PORTD,2);
cbiBF(PORTD,3);
sbiBF(PORTD,4);
break;
case CMD_ADC3 : // Envoie les informations du troisième convertisseur ADC
StartADC(2);
ReadADC(listTemp);
ADC3L = listTemp[0];
ADC3H = listTemp[1];
transmission(CMD_ADC3, ADC3L, ADC3H);
cbiBF(PORTD,2);
sbiBF(PORTD,3);
sbiBF(PORTD,4);
break;
case CMD_ADC4 : // Envoie les informations du quatrième convertisseur ADC
StartADC(3);
ReadADC(listTemp);
ADC4L = listTemp[0];
ADC4H = listTemp[1];
transmission(CMD_ADC4, ADC4L, ADC4H);
sbiBF(PORTD,2);
sbiBF(PORTD,3);
sbiBF(PORTD,4);
break;
case CMD_SENS_0_POSITIF :
Sens_0 = 1 ;
transmission(CMD_SENS_0_POSITIF,Conf_sens0p, 0x00 );
break;
case CMD_SENS_0_NEGATIF :
Sens_0 = 0 ;
transmission(CMD_SENS_0_NEGATIF,Conf_sens0n, 0x00 );
break;
case CMD_SENS_1_POSITIF :
Sens_1 = 1 ;
transmission(CMD_SENS_1_POSITIF,Conf_sens1p, 0x00 );
break;
case CMD_SENS_1_NEGATIF :
Sens_1 = 0 ;
transmission(CMD_SENS_1_NEGATIF, Conf_sens1n, 0x00 );
break;
default :
asm("nop");
}
for(decalage=0;decalage<=4;decalage++) // Décale les demandes pour supprimer la première et passer au traitement de la demande suivante
{
data[decalage]=data[decalage+1];
}
data[4] = 0x00 ;
}
else
{
asm("nop");
}
}
return 0;
}
int main(void)
{
/* Configure the oscillator both devices */
ConfigureOscillator();
/* Initialize IO ports and peripherals for both devices */
InitGPIO();
InitUART();
InitI2c();
InitI2cCompass();
/* Program for the bracelet */
#ifdef PROTECTED
/* Initialize IO ports and peripherals */
InitTimerUS();
/* The values of the magnetic field will be save in x and y */
s16 x = 0;
s16 y = 0;
while(1)
{
I2cReadData(&x, &y);
ComputeAngle(&angle, x, y);
PutData16(angle);
__delay_ms(500);
}
#endif
/* Program for the bodyguard*/
#ifdef BODY_GUARD
/* Initialize IO ports and peripherals */
InitADC();
InitPWM();
InitLcd();
InitTimerServo();
/* TODO <INSERT USER APPLICATION CODE HERE> */
u16 ADC_values[NMB_SENSORS];
u16 average[NMB_SENSORS];
u8 i;
u8 j;
/* The values of the magnetic field will be save in x and y */
s16 x = 0;
s16 y = 0;
u16 angle2=0;
char T[5];
memset(ADC_values,0x00,sizeof(ADC_values));
memset(average, 0x00,sizeof(average));
/*
for(i=0; i<NMB_SENSORS; i++)
{
ADC_values[i]=0;
}*/
LcdClear();
#if MAGNETIC_SENSOR
while(1)
{
I2cReadData(&x, &y);
angle2=((-atan2(x,y)*180)/3.14)+180;
/* Computes the angle using the arctan2 which provides an angle
* between -180° and 180°, then converts the result that is in radian
* into degree (*180/pi) and in the end add 180° so the angle is between
* 0° and 360° */
//LcdPutFloat(angle2,0);
LcdPutFloat(angle2,0);
LcdGoto(1,2);
LcdPutFloat(angle,0);
__delay_ms(500);
LcdClear();
}
#endif
#ifdef BODY_GUARD_MODE
while(1)
{
for(j=0; j<NMB_MEASURES; j++)
{
/* SENSORS SAMPLING */
for(i=0; i<NMB_SENSORS; i++)
{
StartADC(ADC_values);
}
ObjectDetection(ADC_values, average);
}
LcdClear();
LcdPutFloat(CCP2RB, 0);
//__delay_ms(1000);
LcdClear();
/* Set Flags */
ObjectReaction(average);
DistanceFlag(average[US]);
/* react */
AutoBodyGuard();
}
#endif
#ifdef AUTO_FLEE
while(1)
{
for(j=0; j<NMB_MEASURES; j++)
{
/* SENSORS SAMPLING */
for(i=0; i<NMB_SENSORS; i++)
{
StartADC(ADC_values);
}
ObjectDetection(ADC_values, average);
}
LcdClear();
/* Set Flags */
ObjectReaction(average);
//DistanceFlag(average[US]);
AutoFLee();
}
#endif
#endif
return 0;
}
/*********************************************************************
*
* MainTask
*
**********************************************************************
*/
void MainTask(void)
{
GUI_Init();
WM_SetCreateFlags(WM_CF_MEMDEV); /* Use memory devices on all windows to avoid flicker */
WM_EnableMemdev(WM_HBKWIN);
WM_SetCallback(WM_HBKWIN, &_cbBkWin);
GUI_SetBkColor(GUI_BLUE);
GUI_SetFont(&GUI_Font16B_1);
GUI_Clear();
ahButton[0] = BUTTON_Create(318-52,152,75-21, 20, GUI_ID_ADC, BUTTON_CF_SHOW );
BUTTON_SetTextColor(ahButton[0],BUTTON_CI_UNPRESSED,GUI_GREEN);
BUTTON_SetFont(ahButton[0],&GUI_Font16B_1);
BUTTON_SetText(ahButton[0],"Inc");
ahButton[1] = BUTTON_Create(318-52,174,75-21, 20, GUI_ID_DAC, BUTTON_CF_SHOW );
BUTTON_SetTextColor(ahButton[1],BUTTON_CI_UNPRESSED,GUI_GREEN);
BUTTON_SetFont(ahButton[1],&GUI_Font16B_1);
BUTTON_SetText(ahButton[1],"Dec");
ahButton[2] = BUTTON_Create(318-52,196,75-21, 20, GUI_ID_FFT, BUTTON_CF_SHOW );
BUTTON_SetTextColor(ahButton[2],BUTTON_CI_UNPRESSED,GUI_GREEN);
BUTTON_SetFont(ahButton[2],&GUI_Font16B_1);
BUTTON_SetText(ahButton[2],"Switch");
ahButton[3] = BUTTON_Create(318-52,218,75-21, 20, GUI_ID_Spectrum, BUTTON_CF_SHOW );
BUTTON_SetTextColor(ahButton[3],BUTTON_CI_UNPRESSED,GUI_GREEN);
BUTTON_SetFont(ahButton[3],&GUI_Font16B_1);
BUTTON_SetText(ahButton[3],"Spectr");
ahProgbar[0]=PROGBAR_Create(318-52,2,75-21,20,WM_CF_SHOW);
PROGBAR_SetBarColor(ahProgbar[0],0,GUI_MAGENTA);
PROGBAR_SetBarColor(ahProgbar[0],1,GUI_RED);
PROGBAR_SetFont(ahProgbar[0],&GUI_Font16B_1);
PROGBAR_SetMinMax(ahProgbar[0],0,100);
WIDGET_SetEffect(ahProgbar[0], &WIDGET_Effect_3D);
ahScrollbar[0]=SCROLLBAR_Create(0,11,12,217,0,GUI_ID_OSCLevel,WM_CF_SHOW,SCROLLBAR_CF_VERTICAL);
SCROLLBAR_SetNumItems(ahScrollbar[0],200);
SCROLLBAR_SetValue(ahScrollbar[0],100);
DispButton();
DispChInfo();
ConfigRefresh=0;
fRefresh =1;
while(1)
{
if(ConfigRefresh == 0)
{
if (fRefresh)
{
fRefresh = 0;
if(g_DSO.HoldEn == 1)
{
DispChInfo();
}
}
if (g_DSO.HoldEn == 0)
{
StopADC(); /* 暂停采样 */
DispFrame();
DispChInfo();
DispCh1Wave();
FFT_Convert();
StartADC(); /* 开始采样 */
}
PROGBAR_SetValue(ahProgbar[0],OSCPUUsage);
}
GUI_Delay(50);
}
}
