/**********************************************************************
* Function: Override_init
* @return None
* @remark Initializes the override board and the interrupt to detect
* when the receiver comes online.
* @author Darrel Deo
* @date 2013.04.01
**********************************************************************/
void Override_init() {
// Initialize override board pins to give Micro control
ENABLE_OUT_TRIS = OUTPUT; // Set pin to be an output (fed to the AND gates)
ENABLE_OUT_LAT = MICRO_HAS_CONTROL; // Initialize control for Microcontroller
// Let override timer expire to disable override
Timer_new(TIMER_OVERRIDE, 1);
while (Override_isTriggered()) {
asm("nop");
}
//Enable the interrupt for the override feature
mPORTBSetPinsDigitalIn(BIT_0); // CN2
mCNOpen(CN_ON | CN_IDLE_CON , CN2_ENABLE , CN_PULLUP_DISABLE_ALL);
uint16_t value = mPORTDRead(); //?
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_2);
//CN2 J5-15
//DBPRINT("Override Function has been Initialized\n");
Override_giveMicroControl();
INTEnable(INT_CN,1);
}
int main(void) {
// Initialize the UART, Timers, and I2C
Board_init();
Serial_init();
Timer_init();
Override_init();
printf("Override board initialized.\n");
while(1){
if (inOverride && !Override_isTriggered()) {
inOverride = FALSE;
printf("Override disabled.\n");
}
else if (!inOverride && Override_isTriggered()) {
inOverride = TRUE;
printf("Override enabled.\n");
}
}
return (SUCCESS);
}
/**********************************************************************
* Function: checkEvents
* @return None
* @remark Checks for various events that can occur, and sets the
* appropriate flags for handling later.
**********************************************************************/
static void checkEvents() {
// Clear all event flags
int i;
for (i=0; i < EVENT_BYTE_SIZE; i++)
event.bytes[i] = 0x0;
// Navigation events
if (Navigation_isDone())
event.flags.navigationDone = TRUE;
if (Navigation_hasError())
setError(Navigation_getError());
// Override
if (Override_isTriggered())
event.flags.receiverDetected = TRUE;
// XBee messages (from command center)
if (Mavlink_hasNewMessage()) {
lastMavlinkMessageID = Mavlink_getNewMessageID();
lastMavlinkCommandID = MAVLINK_NO_COMMAND;
lastMavlinkMessageWantsAck = FALSE;
switch (lastMavlinkMessageID) {
// -------------------------- Acknowledgements ------------------------
case MAVLINK_MSG_ID_MAVLINK_ACK:
// No ACKS from ComPAS to AtLAs
break;
// ------------------------------ Messages ----------------------------
case MAVLINK_MSG_ID_CMD_OTHER:
lastMavlinkMessageWantsAck = Mavlink_newMessage.commandOtherData.ack;
if (Mavlink_newMessage.commandOtherData.command == MAVLINK_RESET_BOAT ) {
event.flags.haveResetMessage = TRUE;
lastMavlinkCommandID = MAVLINK_RESET_BOAT ;
}
else if (Mavlink_newMessage.commandOtherData.command == MAVLINK_RETURN_STATION) {
event.flags.haveReturnStationMessage = TRUE;
overrideShutdown = FALSE;
lastMavlinkCommandID = MAVLINK_RETURN_STATION;
}
else if (Mavlink_newMessage.commandOtherData.command == MAVLINK_SAVE_STATION) {
event.flags.haveSetStationMessage = TRUE;
wantSaveStation = TRUE;
lastMavlinkCommandID = MAVLINK_SAVE_STATION;
}
else if (Mavlink_newMessage.commandOtherData.command == MAVLINK_GEOCENTRIC_ORIGIN) {
event.flags.haveSetOriginMessage = TRUE;
lastMavlinkCommandID = MAVLINK_GEOCENTRIC_ORIGIN;
}
else if (Mavlink_newMessage.commandOtherData.command == MAVLINK_OVERRIDE) {
event.flags.haveOverrideMessage = TRUE;
overrideShutdown = TRUE;
lastMavlinkCommandID = MAVLINK_OVERRIDE;
}
break;
case MAVLINK_MSG_ID_GPS_ECEF:
lastMavlinkMessageWantsAck = Mavlink_newMessage.gpsGeocentricData.ack;
if (Mavlink_newMessage.gpsGeocentricData.status == MAVLINK_GEOCENTRIC_ORIGIN) {
event.flags.haveSetOriginMessage = TRUE;
lastMavlinkCommandID = MAVLINK_GEOCENTRIC_ORIGIN;
}
else if (Mavlink_newMessage.gpsGeocentricData.status == MAVLINK_GEOCENTRIC_ERROR)
event.flags.haveGeocentricErrorMessage = TRUE;
break;
case MAVLINK_MSG_ID_GPS_NED:
lastMavlinkMessageWantsAck = Mavlink_newMessage.gpsLocalData.ack;
if (Mavlink_newMessage.gpsLocalData.status == MAVLINK_LOCAL_SET_STATION) {
event.flags.haveSetStationMessage = TRUE;
lastMavlinkCommandID = MAVLINK_LOCAL_SET_STATION;
wantSaveStation = FALSE;
}
else if (Mavlink_newMessage.gpsLocalData.status == MAVLINK_LOCAL_START_RESCUE) {
event.flags.haveStartRescueMessage = TRUE;
lastMavlinkCommandID = MAVLINK_LOCAL_START_RESCUE;
}
break;
default:
// Unknown message ID
event.flags.haveUnknownMessage = TRUE;
DBPRINT("Mavlink received unhandled message: 0x%X\n");
break;
}
}
/* If the receiver is off, boat is not stopped, and we either
have a station or are setting one, then turn override off */
if (!event.flags.receiverDetected && !overrideShutdown
&& (haveStation || (state == STATE_SETSTATION))) {
event.flags.wantOverride = FALSE;
}
else {
event.flags.wantOverride = TRUE;
}
} // checkEvents()
