static void app_rover_setup(app_common *com, app_remote *rem, configuration_t *cnf) {
common = com;
remote = rem;
app_cfg = cnf;
#ifdef CONFIG_SPYBOT_HCSR
RANGE_SENS_init(app_rover_radar_cb);
#endif
#ifdef CONFIG_I2C
I2C_config(_I2C_BUS(0), 100000);
STMPE_init();
#ifdef CONFIG_SPYBOT_LSM
task *config_lsm_t = TASK_create(app_rover_setup_lsm, 0);
ASSERT(config_lsm_t);
TASK_run(config_lsm_t, 0, NULL);
#endif
CFG_EE_init(&eeprom_dev, app_rover_cfg_cb);
CFG_EE_load_config();
#endif // CONFIG_I2C
#ifdef CONFIG_SPYBOT_MOTOR
MOTOR_init();
#endif
#ifdef CONFIG_SPYBOT_SERVO
SERVO_init();
#endif
mech_task = TASK_create(app_rover_mech_task, TASK_STATIC);
TASK_start_timer(mech_task, &mech_timer, 0, 0, 0, 20, "mech");
#ifdef CONFIG_SPYBOT_HCSR
radar_task = TASK_create(app_rover_radar_task, TASK_STATIC);
TASK_start_timer(radar_task, &radar_timer, 0, 0, 100, 65, "radar");
#endif // CONFIG_SPYBOT_HCSR
#ifdef CONFIG_SPYBOT_LSM
int i;
for (i = 0; i < 3; i++) {
acc_extremes[i][0] = S16_MAX;
acc_extremes[i][1] = S16_MIN;
mag_extremes[i][0] = S16_MAX;
mag_extremes[i][1] = S16_MIN;
}
#endif
COMRAD_init();
}
void SFOS_init() {
memset(&sfos, 0, sizeof(sfos));
OS_mutex_init(&sfos.lock, 0);
OS_mutex_init(&sfos.sig_mutex, 0);
OS_cond_init(&sfos.cond);
sfos.kernel_task = TASK_create(sfos_task_f, TASK_STATIC);
}
void STMPE_init(void) {
memset(&stmpe, 0x00, sizeof(stmpe));
stmpe811_handler_open(&stmpe.handler, _I2C_BUS(0), stmpe_gpio_irq, stmpe_adc_irq, stmpe_temp_irq, stmpe_err_cb);
gpio_config(PORTC, PIN13, CLK_50MHZ, IN, AF0, OPENDRAIN, NOPULL);
// cannot do this, will interfere with high prio hsync signal on controller
//gpio_interrupt_config(PORTC, PIN13, stmpe_irq, FLANK_DOWN);
//gpio_interrupt_mask_enable(PORTC, PIN13, TRUE);
// instead, poll in timer
irq_pin_pre_state = gpio_get(PORTC, PIN13) != 0;
stmpe.task_irq = TASK_create(stmpe_task_irq, TASK_STATIC);
ASSERT(stmpe.task_irq);
init = TRUE;
task *t = TASK_create(stmpe_task_config, 0);
ASSERT(t);
TASK_run(t, 0, NULL);
}
static void stmpe_adc_irq(u8_t adc, u16_t val) {
STMPE_DBG("stmpe_impl adc irq adc:%08b val:%04x\n", adc, val);
stmpe.val_adc = val;
if (stmpe.adc_cb) {
task *t = TASK_create(stmpe_adc_cb, 0);
ASSERT(t);
TASK_run(t, val, NULL);
}
}
int SPI_FLASH_init(spi_flash_dev *sfd, spi_flash_dev_conf *flash_conf, u16_t spi_conf,
spi_bus *bus, hw_io_port cs_port, hw_io_pin cs_pin) {
memset(sfd, 0, sizeof(spi_flash_dev));
memcpy(&sfd->flash_conf, flash_conf, sizeof(spi_flash_dev_conf));
//SPI_DEV_init(&sfd->dev, spi_conf, bus, cs_port, cs_pin, 0);
SPI_DEV_init(&sfd->dev, spi_conf, bus, cs_port, cs_pin, SPI_CONF_IRQ_DRIVEN);
SPI_DEV_set_callback(&sfd->dev, spi_flash_callback_spi_result);
sfd->task = TASK_create(spi_flash_task_f, TASK_STATIC);
sfd->state = SPI_FLASH_STATE_CLOSED;
sfd->open = FALSE;
return SPI_OK;
}
static void app_rover_setup_lsm(u32_t a, void *b) {
lsm_open(&lsm_dev, _I2C_BUS(0), FALSE, app_rover_lsm_cb_irq);
// lock mutex for lsm config
if (!TASK_mutex_lock(&i2c_mutex)) {
return;
}
int res = lsm_config_default(&lsm_dev);
ASSERT(res == I2C_OK);
lsm_set_lowpass(&lsm_dev, 50, 50);
lsm_task = TASK_create(app_rover_lsm_task, TASK_STATIC);
TASK_start_timer(lsm_task, &lsm_timer, 0, 0, 500, 100, "lsm_read");
}
// execute request depending on bit mask
static void stmpe_exe_req(void) {
u32_t req_mask = stmpe.req_mask;
if (req_mask) {
task *t = NULL;
if (req_mask & STMPE_REQ_GPIO) {
STMPE_DBG("stmpe_impl req EXE gpio\n");
t = TASK_create(stmpe_task_gpio, 0);
}
else if (req_mask & STMPE_REQ_ADC) {
STMPE_DBG("stmpe_impl req EXE adc\n");
t = TASK_create(stmpe_task_adc, 0);
}
else if (req_mask & STMPE_REQ_TEMP) {
STMPE_DBG("stmpe_impl req EXE temp\n");
t = TASK_create(stmpe_task_temp, 0);
}
else if (req_mask & STMPE_REQ_INT_STA) {
STMPE_DBG("stmpe_impl req EXE int sta\n");
t = TASK_create(stmpe_task_int_sta, 0);
}
ASSERT(t);
TASK_run(t, 0, NULL);
}
}
static void usb_rx_cb(u16_t avail, void *arg) {
int in_ix = 0;
while ((avail = IO_rx_available(IOUSB)) > 0) {
int len = MIN(avail, sizeof(in) - in_ix);
IO_get_buf(IOUSB, &in[in_ix], len);
in_ix += len;
if (in_ix >= sizeof(in)) break;
}
int i;
for (i = 0; i < in_ix; i++) {
if (in[i] == '\r' || in[i] == '\n') {
task *t = TASK_create(CLI_TASK_on_usb_input, 0);
TASK_run(t, i, NULL);
}
}
}
static void app_rover_lsm_cb_irq(lsm303_dev *dev, int res) {
TRACE_USR_MSG(0x20);
task *t = TASK_create(app_rover_lsm_cb_task, 0);
ASSERT(t);
TASK_run(t, res, dev);
}
void CLI_uart_check_char(void *a, u8_t c) {
if (c == '\n' || c == '\r') {
task *t = TASK_create(CLI_TASK_on_uart_input, 0);
TASK_run(t, IO_rx_available(IOSTD), NULL);
}
}
