C++ (Cpp) usbd_hal_is_disabled示例

示例#1

文件： imu.c 项目： makerpc/imu-v2-brick

void tick_task(const uint8_t tick_type) {
	static int8_t message_counter = 0;

	if(tick_type == TICK_TASK_TYPE_CALCULATION) {
		update_sensor_data();

		if(update_sensor_counter == 5) {
			imu_blinkenlights();
		}

		for(uint8_t i = 0; i < IMU_PERIOD_NUM; i++) {
			if(imu_period_counter[i] < UINT32_MAX) {
				imu_period_counter[i]++;
			}
		}
	} else if(tick_type == TICK_TASK_TYPE_MESSAGE) {
		if(usb_first_connection && !usbd_hal_is_disabled(IN_EP)) {
			message_counter++;
			if(message_counter >= 100) {
				message_counter = 0;
				if(brick_init_enumeration(COM_USB)) {
					com_info.current = COM_USB;
					usb_first_connection = false;
					message_counter = 0;
				}
			}
		}

		for(uint8_t i = 0; i < IMU_PERIOD_NUM; i++) {
			if((imu_period[i] != 0) &&
			   (imu_period[i] <= imu_period_counter[i])) {
				// Test if we are totally out of time (lost a whole
				// period), in this case we don't send the callback again.
				// This is needed for the wireless extensions
				if(imu_period[i]*2 <= imu_period_counter[i]) {
					imu_period_counter[i] = imu_period[i];
				}
				make_period_callback(i);
			}
		}
	}
}

示例#2

void tick_task(const uint8_t tick_type) {
	static int8_t message_counter = 0;

	if(tick_type == TICK_TASK_TYPE_MESSAGE) {
		if(usb_first_connection && !usbd_hal_is_disabled(IN_EP)) {
			message_counter++;
			if(message_counter >= 100) {
				message_counter = 0;
				if(brick_init_enumeration(COM_USB)) {
					com_info.current = COM_USB;
					usb_first_connection = false;
					message_counter = 0;
				}
			}
		}
	}

	if(tick_type == TICK_TASK_TYPE_CALCULATION) {
		dc_tick_calc_counter++;
		dc_current_sum += adc_channel_get_data(CURRENT_CONSUMPTION_CHANNEL);
		if(dc_tick_calc_counter >= 100) {
			dc_current = dc_current_sum/100;
			dc_current_sum = 0;
			dc_tick_calc_counter = 0;
		}

		dc_tick_counter++;

		// Switch Output Voltage between extern and stack
		if(dc_get_external_voltage() < DC_VOLTAGE_EPSILON) {
			PIO_Set(&pin_voltage_switch);
		} else {
			PIO_Clear(&pin_voltage_switch);
		}

		if(!dc_enabled) {
			return;
		}

		// Emit current velocity callback if necessary
		if((dc_current_velocity_period != 0) &&
		   ((dc_tick_counter % dc_current_velocity_period) == 0)) {
			dc_current_velocity = true;
		}

		//if(!encoder_enabled) {
			if(dc_velocity_goal == dc_velocity) {
				return;
			}
		//}

		if(dc_acceleration == 0) {
			dc_velocity = dc_velocity_goal;
		} else {
			if(dc_velocity < dc_velocity_goal) {
				dc_velocity = MIN(dc_velocity + dc_acceleration,
				                  dc_velocity_goal);
			} else {
				dc_velocity = MAX(dc_velocity - dc_acceleration,
				                  dc_velocity_goal);
			}
		}


#ifdef ENCODER
		if(encoder_enabled) {
			if(encoder_tick()) {
				float setpoint = (dc_velocity/DC_VELOCITY_MULTIPLIER)*encoder_counts_per_revolution*pid.sample_time/(1000*60);
				float out;
				if(pid_compute(&pid, setpoint, (float)ABS(encoder_count_last), &out)) {
					pid_velocity = (int32_t)out;
		//			pid_print(&pid);
				}
			}
		}
#endif

		// Set new velocity
		dc_velocity_to_pwm();

		// Emit velocity reachead callback
		if(dc_velocity_goal == dc_velocity /*&& !encoder_enabled*/) {
			dc_velocity_reached = true;
		}
	} else if(tick_type == TICK_TASK_TYPE_MESSAGE) {
		dc_message_tick_counter++;

		if(dc_velocity_reached) {
			dc_velocity_reached = false;
			dc_velocity_reached_callback();
		}

		if(dc_current_velocity) {
			dc_current_velocity = false;
			dc_current_velocity_callback();
		}

		dc_check_error_callbacks();
	}
}