amiro-os / devices / LightRing / LightRing.cpp @ 1d9e5660
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| 1 | 58fe0e0b | Thomas Schöpping | #include "ch.hpp" |
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| 2 | #include "hal.h" |
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| 3 | |||
| 4 | #include "LightRing.h" |
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| 5 | |||
| 6 | #include <global.hpp> |
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| 7 | |||
| 8 | using namespace chibios_rt; |
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| 9 | using namespace amiro; |
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| 10 | using namespace types; |
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| 11 | |||
| 12 | extern volatile uint32_t shutdown_now; |
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| 13 | extern Global global;
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| 14 | |||
| 15 | |||
| 16 | LightRing::LightRing(CANDriver *can, TLC5947 *tlc5947, fileSystemIo::FSIOLightRing *memory) |
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| 17 | : ControllerAreaNetworkTx(can, CAN::LIGHT_RING_ID), |
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| 18 | ControllerAreaNetworkRx(can, CAN::LIGHT_RING_ID), |
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| 19 | tlc5947(tlc5947), |
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| 20 | memory(memory) {
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| 21 | chDbgCheck(tlc5947 != NULL, "LightRing"); |
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| 22 | } |
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| 23 | |||
| 24 | void LightRing::setLightBrightness(int brightness) { |
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| 25 | this->tlc5947->setBrightness(brightness);
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| 26 | this->tlc5947->update();
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| 27 | } |
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| 28 | |||
| 29 | void LightRing::setLightColor(int index, Color color) { |
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| 30 | this->tlc5947->setColor(index, color);
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| 31 | this->tlc5947->update();
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| 32 | } |
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| 33 | |||
| 34 | msg_t LightRing::receiveMessage(CANRxFrame *frame) {
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| 35 | int deviceId = this->decodeDeviceId(frame); |
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| 36 | |||
| 37 | switch (deviceId) {
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| 38 | |||
| 39 | case CAN::SHELL_REPLY_ID(CAN::LIGHT_RING_ID):
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| 40 | if (frame->DLC > 0) { |
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| 41 | sdWrite(&SD1, frame->data8, frame->DLC); |
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| 42 | return RDY_OK;
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| 43 | } |
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| 44 | break;
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| 45 | |||
| 46 | case CAN::SHELL_QUERY_ID(CAN::LIGHT_RING_ID):
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| 47 | if (frame->DLC != 0) { |
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| 48 | global.sercanmux1.convCan2Serial(frame->data8, frame->DLC); |
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| 49 | return RDY_OK;
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| 50 | } else {
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| 51 | global.sercanmux1.rcvSwitchCmd(this->decodeBoardId(frame));
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| 52 | return RDY_OK;
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| 53 | } |
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| 54 | break;
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| 55 | |||
| 56 | case CAN::COLOR_ID(0): |
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| 57 | case CAN::COLOR_ID(1): |
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| 58 | case CAN::COLOR_ID(2): |
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| 59 | case CAN::COLOR_ID(3): |
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| 60 | case CAN::COLOR_ID(4): |
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| 61 | case CAN::COLOR_ID(5): |
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| 62 | case CAN::COLOR_ID(6): |
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| 63 | case CAN::COLOR_ID(7): |
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| 64 | if (frame->DLC == 3) { |
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| 65 | int index = deviceId & 0x7; |
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| 66 | Color color(frame->data8[0], frame->data8[1], frame->data8[2]); |
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| 67 | this->setLightColor(index, color);
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| 68 | return RDY_OK;
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| 69 | } |
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| 70 | break;
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| 71 | |||
| 72 | case CAN::BRIGHTNESS_ID:
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| 73 | if (frame->DLC == 1) { |
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| 74 | int brightness = frame->data8[0]; |
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| 75 | this->setLightBrightness(brightness);
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| 76 | return RDY_OK;
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| 77 | } |
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| 78 | break;
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| 79 | |||
| 80 | case CAN::BROADCAST_SHUTDOWN:
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| 81 | if (frame->DLC == 2 && frame->data16[0] == CAN::SHUTDOWN_MAGIC) { |
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| 82 | shutdown_now = 0x4;
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| 83 | return RDY_OK;
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| 84 | } |
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| 85 | break;
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| 86 | |||
| 87 | case CAN::ROBOT_ID:
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| 88 | if (frame->DLC == 1) { |
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| 89 | this->robotId = frame->data8[0]; |
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| 90 | return RDY_OK;
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| 91 | } |
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| 92 | break;
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| 93 | |||
| 94 | default:
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| 95 | break;
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| 96 | } |
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| 97 | return -1; |
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| 98 | } |
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| 99 | |||
| 100 | ThreadReference LightRing::start(tprio_t PRIO) {
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| 101 | this->ControllerAreaNetworkRx::start(PRIO + 1); |
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| 102 | this->ControllerAreaNetworkTx::start(PRIO);
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| 103 | return NULL; |
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| 104 | } |
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| 105 | |||
| 106 | msg_t |
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| 107 | LightRing::terminate(void) {
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| 108 | msg_t ret = RDY_OK; |
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| 109 | |||
| 110 | this->ControllerAreaNetworkTx::requestTerminate();
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| 111 | ret |= this->ControllerAreaNetworkTx::wait();
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| 112 | this->ControllerAreaNetworkRx::requestTerminate();
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| 113 | ret |= this->ControllerAreaNetworkRx::wait();
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| 114 | |||
| 115 | return ret;
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| 116 | } |
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| 117 | |||
| 118 | void LightRing::periodicBroadcast() {
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| 119 | |||
| 120 | } |