/**
* Handle a breakpoint. The system is stopped until the user forces it
* to continue, either by pressing 'p' in the debug console, or presses
* the Escape Button. Interrupt-level functions continue to run while
* paused; only regular task scheduling is paused. In order to poll for
* the continue, we have to invoke the switch and debugger periodic
* functions.
*/
void bpt_hit (void)
{
U8 key;
db_paused = 1 - db_paused;
if (db_paused == 1)
{
callset_invoke (debug_enter);
db_tilt_flag = in_tilt;
in_tilt = FALSE;
bpt_display ();
}
else
{
in_tilt = db_tilt_flag;
callset_invoke (debug_exit);
}
while (db_paused == 1)
{
if ((key = button_check (SW_ENTER)))
{
/* Enter = change active field */
bpt_display ();
}
else if ((key = button_check (SW_UP)))
{
/* Up = increase field value */
bpt_mem_addr += key * 4;
bpt_mem_addr = (void *) (((U16)bpt_mem_addr) & 0x1FFFUL);
bpt_display ();
}
else if ((key = button_check (SW_DOWN)))
{
/* Down = decrease field value */
bpt_mem_addr -= key * 4;
bpt_mem_addr = (void *) (((U16)bpt_mem_addr) & 0x1FFFUL);
bpt_display ();
}
else
{
switch_periodic ();
db_periodic ();
task_runs_long ();
}
}
#ifdef CONFIG_DMD_OR_ALPHA
dmd_alloc_low_clean ();
dmd_show_low ();
#endif
}
int
main()
{
Button button;
struct counter_data data = {
(ShiftRegister){12, 10, 11},
0
};
shift_register_init(&data.reg);
shift_register_set(&data.reg, 1);
button_init(&button);
button.pin = 7;
button.closed_on = LOW;
button.debounce_delay = 10;
button.hold_delay = 250;
button.toggle_callback = &toggled;
button.hold_callback = &hold;
button.data = &data;
pin_set_mode(7, INPUT);
pin_set_value(7, PULLUP); // enable the internal pull-up resistor
while(true) {
button_check(&button);
delay_ms(1); // TODO do not depend on delaying
}
return 0;
}
/** Check for debug input periodically */
void db_periodic (void)
{
#ifdef CONFIG_BPT
if (!in_test && button_check (SW_ESCAPE))
bpt_stop ();
#endif
#ifdef CONFIG_DEBUG_INPUT
if (pinio_debug_read_ready ())
{
char c = pinio_debug_read ();
puts_handler = puts_debug;
switch (c)
{
#ifdef DEBUGGER
case 'a':
/* Dump all debugging information */
db_dump_all ();
break;
#endif
#ifdef CONFIG_BPT
case 'p':
/* Stop the system */
bpt_stop ();
break;
#endif
default:
break;
}
}
#endif /* DEBUGGER */
}
int main(void)
{
serial_initialise();
button_t button_1 = debounce_init("PB0");
button_t button_2 = debounce_init("PB2");
button_auto_acknowledge(button_2);
sei();
serial_send_data("Off we go\r\n");
while (1)
{
if(button_check(button_1) == BUTTON_PRESS_SHORT) {
serial_send_data("Button 1 short");
button_acknowledge(button_1);
}
if(button_check(button_1) == BUTTON_PRESS_LONG) {
serial_send_data("Button 1 long");
button_acknowledge(button_1);
}
switch (button_check(button_2)) {
case BUTTON_PRESS_SHORT:
serial_send_data("Button 2 short");
break;
case BUTTON_PRESS_LONG:
serial_send_data("Button 2 long");
break;
}
_delay_ms(200);
serial_send_data("Canary\r\n");
}
}
// State of motor callibration
FLY_STATE func_motor_callibration(void)
{
FLY_STATE mode = FLY_STATE_CALIB;
if(fly_param.length > 0)
{
if(fly_param.motor[2] != 0) // release calibration mode
{
update_calib_data(); //
mode = FLY_STATE_NORMAL;
func_normal();
}
{ // calibration mode
float acc[3]; // sensor data;
button_func(button_check((unsigned char)fly_param.motor[3]));
update_motor_data();
// センサーデータ取得
kx022.get_val(acc);
// センサーデータの送信
Print.init(tx_data,sizeof(tx_data));
Print.p("SensorData,");
Print.f(acc[0],1);
Print.p(",");
Print.f(acc[1],1);
Print.p(",");
Print.f(acc[2],1);
Print.p(",");
// digitalWrite(BLUE_LED,LOW);
// P56D=0;
SubGHz.send(SUBGHZ_PANID,SUBGHZ_TXADDR, (unsigned char *)&tx_data, Print.len(),NULL);
// digitalWrite(BLUE_LED,HIGH);
// P56D=1;
}
}
else
{
if((fly_param.current_time-fly_param.last_recv_time)>500)
{
func_waiting_zero();
mode = FLY_STATE_DETECTING_ZERO;
}
}
return mode;
}
/** Check for debug input periodically */
void db_periodic (void)
{
extern void MACHINE_DEBUGGER_HOOK (U8);
#ifdef CONFIG_BPT
if (!in_test && button_check (SW_ESCAPE))
bpt_stop ();
#endif
#ifdef DEBUGGER
if (wpc_debug_read_ready ())
{
char c = wpc_debug_read ();
db_puts = db_puts_orkin;
switch (c)
{
case 'a':
/* Dump all debugging information */
db_dump_all ();
break;
#ifdef CONFIG_BPT
case 'p':
/* Stop the system */
bpt_stop ();
break;
#endif
default:
#ifdef MACHINE_DEBUGGER_HOOK
/* Allow the machine to define additional commands.
* This function must reside in the system page. */
MACHINE_DEBUGGER_HOOK (c);
#endif
break;
}
}
#endif /* DEBUGGER */
}
