// ============================================================================================
void _getReading(void)
{
uint32_t temperature, output;
// See if we have got a valid temperature
temperature = sensorReturnReading();
// Only turn the LED off if we've got legal data, otherwise flash it
if (temperature == TEMP_INVALID)
{
ledSetState(LEDFLASH_ERROR);
heaterSetLevel(0, CYCLE_LEN);
isErrored=TRUE;
sensorRequestCallback(); // Get another reading as soon as we can
return;
}
ledSetState(LEDFLASH_NORMAL);
// ...otherwise we've got a valid temp, so do the business with it
if (pidGetSetpoint(&pidInstance) == SETPOINT_IDLE)
output = 0;
else
output=pidCalc(&pidInstance,temperature);
heaterSetLevel(output, CYCLE_LEN);
contribute_log_entry(temperature, heaterGetPercentage(), pidGetSetpoint(&pidInstance), CYCLE_LEN);
// Now wait for a while before doing it all again
timerAdd(&tstate, TIMER_ORIGIN_STATEMACHINE, 0, CYCLE_LEN);
}
// set output if output = 1, otherwise input
static void gpio_set_mode_escs(int8_t escIndex, uint8_t mode) {
int i = 0;
ledSetState(LED_ESC_MODE_TX, mode != Mode_IPU);
ledSetState(LED_ESC_MODE_RX, mode == Mode_IPU);
if (escIndex == -1) {
escIndex = 0;
// only configure all escs if going into Mode_Out_PP
if (mode == Mode_Out_PP) {
for (i = 0; i < ESC_COUNT; i++) {
gpio_set_mode(escHardware[i].gpio, escHardware[i].pin, mode);
}
return;
}
}
gpio_set_mode(escHardware[escIndex].gpio, escHardware[escIndex].pin, mode);
}
void loadUtcOffsetFromFlash()
{
utcOffset = *(int8_t *)IMG_START_SECTOR;
if ((utcOffset < -12) || (utcOffset > 12))
{
utcOffset = 0;
ledSetState(TASK_LED, LedBlink);
}
}
void net_task (void const *arg)
{
uint8_t count;
bool ntpSuccess;
netTaskErr resultGetTime;
netTaskId = osThreadGetId();
while (1)
{
osSignalWait(FLAG_NTP_REQ_START, osWaitForever);
ntpSuccess = false;
ledSetState(TASK_LED, LedOn);
for (count = 0; count < DHCP_WAIT_TRIES; count++)
{
if ((localm[NETIF_ETH].IpAddr[0] != 0) ||
(localm[NETIF_ETH].IpAddr[1] != 0) ||
(localm[NETIF_ETH].IpAddr[2] != 0) ||
(localm[NETIF_ETH].IpAddr[3] != 0))
{
resultGetTime = getEpochTime();
if (resultGetTime == errOK)
{
updateRtcTime();
ntpSuccess = true;
break;
}
}
else
osDelay(DHCP_WAIT_DELAY_MS);
}
if (ntpSuccess == true)
ledSetState(TASK_LED, LedOff);
else
{
ledSetState(TASK_LED, LedBlink);
//rerequest NTP time after delay
scheldueNTPRequest();
}
}
}
static void ledInitDebug(void)
{
#if defined(STM32F3DISCOVERY)
GPIO_DeInit(GPIOE);
gpio_enable_clock(RCC_AHBPeriph_GPIOE);
gpio_set_mode(GPIOE, GPIO_Pin_8|GPIO_Pin_10|GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_14|GPIO_Pin_15, Mode_Out_PP);
// Inverted LEDs
ledSetState(GPIOE, GPIO_Pin_8|GPIO_Pin_10|GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_14|GPIO_Pin_15, Bit_RESET);
#endif
return;
}
static uint8_t escHi(int8_t escIndex) {
uint16_t val = 0;
// we can only read / passthrough 1 escs, lets pass the first one in "all" mode
if (escIndex == -1) { escIndex = 1; }
// inverted schmitt trigger on the input vs. the non-inverted schmitt trigger on the avr
// invert the input to get the true edge direction
// bit reset (0) indicates a true rising edge
val = (GPIO_ReadInputDataBit(escHardware[escIndex].gpio, escHardware[escIndex].pin));
ledSetState(LED_ESC_RX, val == Bit_RESET);
return val;
}
void saveUtcOffsetToFlash()
{
flashImage[0] = utcOffset;
__disable_irq();
if(u32IAP_PrepareSectors(16, 16) == IAP_STA_CMD_SUCCESS)
{
u32IAP_EraseSectors(16, 16);
u32IAP_PrepareSectors(16, 16);
if(u32IAP_CopyRAMToFlash(IMG_START_SECTOR, (uint32_t)flashImage, IAP_FLASH_PAGE_SIZE_BYTES) == IAP_STA_CMD_SUCCESS)
{
if(u32IAP_Compare(IMG_START_SECTOR, (uint32_t)flashImage, IAP_FLASH_PAGE_SIZE_BYTES, 0) == IAP_STA_CMD_SUCCESS)
{
__enable_irq();
ledSetState(TASK_LED, LedOn);
return;
}
}
}
__enable_irq();
ledSetState(TASK_LED, LedBlink);
}
void escSet(int8_t escIndex, BitAction val) {
int i = 0;
// Write all esc pins
if (escIndex == -1) {
for (i = 0; i < ESC_COUNT; i++) {
GPIO_WriteBit(escHardware[i].gpio, escHardware[i].pin, val);
}
}
// Write the specified pin
else {
GPIO_WriteBit(escHardware[escIndex].gpio, escHardware[i].pin, val);
}
// low == data
ledSetState(LED_ESC_TX, val == Bit_RESET);
}
static void txSet(BitAction val) {
GPIO_WriteBit(S1W_TX_GPIO, S1W_TX_PIN, val);
// low == data
ledSetState(LED_PRGMR_TX, val == Bit_RESET);
}
static uint8_t rxHi() {
uint16_t val = 0;
val = (GPIO_ReadInputDataBit(S1W_RX_GPIO, S1W_RX_PIN));
ledSetState(LED_PRGMR_RX, val == Bit_RESET);
return val;
}
