amiro-os / devices / LightRing / LightRing.cpp @ 58fe0e0b
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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 | } |