324 lines
11 KiB
C
324 lines
11 KiB
C
//=============================================================================
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// Demo program "Stop and go via Bluetooth (motor and counter part)".
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//
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// Can be run under control of the ROBO TX Controller
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// firmware in download (local) mode.
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// Starts and stops motor, connected to outputs M1, by means
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// of the button, connected to the input I8 on other
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// ROBO TX Controller. Pulses from the motor are calculated
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// by the counter C1. The motor is stopped after the counter
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// reaches the value of 1000.
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//
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// Disclaimer - Exclusion of Liability
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//
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// This software is distributed in the hope that it will be useful, but WITHOUT
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// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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// FITNESS FOR A PARTICULAR PURPOSE. It can be used and modified by anyone
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// free of any license obligations or authoring rights.
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//=============================================================================
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#include "ROBO_TX_PRG.h"
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#define MOTOR_NUMBER 1
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#define MOTOR_IDX (MOTOR_NUMBER - 1)
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#define BT_CHANNEL 1
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// Bluetooth address of other ROBO TX Controller
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static UCHAR8 * bt_address = bt_address_table[0];
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static enum
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{
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START_LISTEN,
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PAUSE_1,
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WAIT_CONNECT,
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PAUSE_2,
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PAUSE_3,
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RECEIVE,
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PAUSE_4,
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EXIT
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} stage;
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static unsigned long timer;
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static enum bt_commands_e command;
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static CHAR8 command_status;
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static CHAR8 receive_command_status;
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/*-----------------------------------------------------------------------------
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* Function Name : BtCallback
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*
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* This callback function is called to inform the program about result (status)
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* of execution of any Bluetooth command except BtStartReceive command.
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*-----------------------------------------------------------------------------*/
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static void BtCallback
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(
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TA * p_ta_array,
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BT_CB * p_data
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)
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{
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command_status = p_data->status;
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}
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/*-----------------------------------------------------------------------------
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* Function Name : BtReceiveCallback
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*
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* This callback function is called to inform the program about result (status)
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* of execution of BtStartReceive command. It is also called when a message
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* arrives via Bluetooth.
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*-----------------------------------------------------------------------------*/
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static void BtReceiveCallback
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(
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TA * p_ta_array,
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BT_RECV_CB * p_data
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)
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{
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if (p_data->status == BT_MSG_INDICATION)
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{
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TA * p_ta = &p_ta_array[TA_LOCAL];
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UCHAR8 motor;
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UCHAR8 pwm_chan;
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INT16 duty;
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UCHAR8 msg[3];
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INT16 counter;
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// Format of a received message should be:
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// byte 0 : motor number(1...N_MOTOR)
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// byte 1-2: motor duty(DUTY_MIN...DUTY_MAX)
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motor = p_data->msg[0];
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if (motor >= 1 && motor <= N_MOTOR)
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{
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pwm_chan = (motor - 1) * 2;
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p_ta->hook_table.memcpy(&duty, &p_data->msg[1], sizeof(duty));
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if (duty >= DUTY_MIN && duty <= DUTY_MAX)
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{
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p_ta->output.duty[pwm_chan] = duty;
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p_ta->output.duty[pwm_chan + 1] = 0;
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}
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// Prepare reply BT message
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msg[0] = motor; // counter number
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counter = p_ta->input.counter[motor - 1];
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p_ta->hook_table.memcpy(&msg[1], &counter, sizeof(counter)); // counter value
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// Send BT message
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command_status = -1;
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p_ta->hook_table.BtSend(BT_CHANNEL, sizeof(msg), msg, BtCallback);
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}
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}
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else
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{
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receive_command_status = p_data->status;
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}
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}
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/*-----------------------------------------------------------------------------
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* Function Name : PrgInit
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*
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* This it the program initialization.
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* It is called once.
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*-----------------------------------------------------------------------------*/
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void PrgInit
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(
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TA * p_ta_array, // pointer to the array of transfer areas
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int ta_count // number of transfer areas in array (equal to TA_COUNT)
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)
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{
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TA * p_ta = &p_ta_array[TA_LOCAL];
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// Configure motor output to be used as a motor output
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p_ta->config.motor[MOTOR_IDX] = TRUE;
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// Inform firmware that configuration was changed
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p_ta->state.config_id += 1;
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// Reset counter
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p_ta->input.cnt_resetted[MOTOR_IDX] = FALSE;
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p_ta->output.cnt_reset_cmd_id[MOTOR_IDX]++;
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// Start listen to the controller with bt_address via Bluetooth channel BT_CHANNEL
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stage = START_LISTEN;
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command = CMD_START_LISTEN;
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command_status = -1;
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p_ta->hook_table.BtStartListen(BT_CHANNEL, bt_address, BtCallback);
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}
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/*-----------------------------------------------------------------------------
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* Function Name : PrgTic
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*
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* This is the main function of this program.
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* It is called every tic (1 ms) realtime.
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*-----------------------------------------------------------------------------*/
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int PrgTic
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(
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TA * p_ta_array, // pointer to the array of transfer areas
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int ta_count // number of transfer areas in array (equal to TA_COUNT)
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)
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{
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int rc = 0x7FFF; // return code: 0x7FFF - program should be further called by the firmware;
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// 0 - program should be normally stopped by the firmware;
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// any other value is considered by the firmware as an error code
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// and the program is stopped.
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TA * p_ta = &p_ta_array[TA_LOCAL];
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switch (stage)
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{
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case START_LISTEN:
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if (p_ta->input.cnt_resetted[MOTOR_IDX]) // wait until counter is resetted
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{
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if (command_status >= 0)
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{
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if (BtDisplayCommandStatus(p_ta, bt_address, BT_CHANNEL, command, command_status))
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{
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if (command_status != BT_SUCCESS)
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{
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stage = PAUSE_4;
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}
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else
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{
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stage = PAUSE_1;
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command_status = -1;
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}
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timer = 0;
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}
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}
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}
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break;
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case PAUSE_1: // to let a user to notice the "Started listening" display output
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if (++timer >= 3000) // wait for 3 seconds
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{
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stage = WAIT_CONNECT;
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}
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else
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{
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break;
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}
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case WAIT_CONNECT:
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if (command_status >= 0)
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{
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if (BtDisplayCommandStatus(p_ta, bt_address, BT_CHANNEL, command, command_status))
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{
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if (command_status == BT_CON_INDICATION)
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{
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stage = PAUSE_2;
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// Start receive from Bluetooth channel BT_CHANNEL
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command = CMD_START_RECEIVE;
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receive_command_status = -1;
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p_ta->hook_table.BtStartReceive(BT_CHANNEL, BtReceiveCallback);
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}
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command_status = -1;
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timer = 0;
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}
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}
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break;
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case PAUSE_2: // to let a user to notice the "Passive connection establishment
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// (incoming connection)" display output
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if (++timer >= 3000) // wait for 3 seconds
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{
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stage = PAUSE_3;
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timer = 0;
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}
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else
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{
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break;
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}
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case PAUSE_3: // to let a user to notice the "Started receiving" display output
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if (receive_command_status >= 0)
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{
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if (BtDisplayCommandStatus(p_ta, bt_address, BT_CHANNEL, command, receive_command_status))
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{
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if (receive_command_status == BT_SUCCESS)
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{
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// Successful result of BtStartReceive() - restart the timer to let a user to
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// notice this display output
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receive_command_status = -1;
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timer = 0;
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}
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else
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{
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// Unsuccessful result of BtStartReceive() - make PAUSE_4 (to let a user to
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// notice this display output) and exit the program
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stage = PAUSE_4;
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timer = 0;
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}
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}
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break;
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}
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else if (++timer >= 3000) // wait for 3 seconds
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{
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if (!p_ta->hook_table.IsDisplayBeingRefreshed(p_ta)) // wait until display is refreshed
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{
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// Drop all pop-up messages from display and return to the main frame
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p_ta->hook_table.DisplayMsg(p_ta, NULL);
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stage = RECEIVE;
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}
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}
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else
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{
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break;
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}
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case RECEIVE:
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if (command_status >= 0)
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{
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if (command_status != BT_SUCCESS)
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{
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// Usually if we have come here, then this means the other controller
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// has disconnected from us
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// Stop the motor
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p_ta->output.duty[MOTOR_IDX * 2] = 0;
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// Reset counter to be prepared for the next time when
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// other controller connects to us again
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p_ta->input.cnt_resetted[MOTOR_IDX] = FALSE;
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p_ta->output.cnt_reset_cmd_id[MOTOR_IDX]++;
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command_status = -1;
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/*
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// This block of code should be used if we want that the program stops when other
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// ROBO TX Controller disconnects from us
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if (BtDisplayCommandStatus(p_ta, bt_address, BT_CHANNEL, command, command_status))
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{
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stage = PAUSE_4;
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timer = 0;
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}
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*/
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}
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command = CMD_NO_CMD;
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}
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break;
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case PAUSE_4: // to let a user to notice the last display output
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if (++timer >= 3000) // wait for 3 seconds
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{
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stage = EXIT;
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}
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else
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{
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break;
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}
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case EXIT:
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if (!p_ta->hook_table.IsDisplayBeingRefreshed(p_ta)) // wait until display is refreshed
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{
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rc = 0; // stop program
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}
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break;
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default:
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break;
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}
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return rc;
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}
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