int main(void) {
int numBlinks = 10;
gpioConfig(N_LED_BLUE_PORT, N_LED_BLUE_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_GREEN_PORT, N_LED_GREEN_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_YELLOW_PORT, N_LED_YELLOW_PIN, GPIO_OUTPUT | GPIO_LOW);
for (;;) {
/* -------- 100 MHz (external clock) -----------
* Configure the Multipurpose Clock Generator output to use the external
* clock locked with a PLL at the maximum frequency of 100MHZ
*
* For PLL, the dividers must be set first.
*
* System: 100 MHz
* Bus: 50 MHz
* Flexbus: 50 MHz
* Flash: 25 MHz
*/
clockSetDividers(DIVIDE_BY_1, DIVIDE_BY_2, DIVIDE_BY_4, DIVIDE_BY_4);
clockConfigMcgOut(MCG_PLL_EXTERNAL_100MHZ);
flashLed(N_LED_BLUE_PORT, N_LED_BLUE_PIN, numBlinks);
/* -------- 24 MHz (slow internal clock) -----------
* Configure the Multipurpose Clock Generator output to use the internal
* 4MHz clock locked with FLL (internal clocks can only be locked with
* the FLL) at 24MHz.
*
* For FLL, the clock dividers be set before or after. (but not before
* PLL)
*
* System: 24 MHz
* Bus: 3 MHz
* Flexbus: 3 MHz
* Flash: 3 MHz
*/
clockConfigMcgOut(MCG_FLL_INTERNAL_24MHZ);
clockSetDividers(DIVIDE_BY_1, DIVIDE_BY_8, DIVIDE_BY_8, DIVIDE_BY_8);
flashLed(N_LED_GREEN_PORT, N_LED_GREEN_PIN, numBlinks);
/* -------- 6 MHz (slow internal clock) -----------
* With the output still at 24MHz, the dividers are quartered. Therefore,
* the new output will be 6MHz.
*
* System: 6 MHz
* Bus: 1.5 MHz
* Flexbus: 1.5 MHz
* Flash: 1.5 MHz
*/
clockSetDividers(DIVIDE_BY_4, DIVIDE_BY_16, DIVIDE_BY_16, DIVIDE_BY_16);
flashLed(N_LED_YELLOW_PORT, N_LED_YELLOW_PIN, numBlinks);
}
return 0;
}
////////////////////////////////////////////////////////////
// LOAD PORT INFO FROM EEPROM
void loadPortInfo(byte forceReload)
{
byte cs = 0;
for(int i=0; i<NUM_PORTS; ++i)
{
PORT_INFO *p = port[i];
memset(p, 0, sizeof(PORT_INFO));
int eepromAddr = 16 * i;
p->cfg.triggerChannel = eeprom_read(eepromAddr + 0);
p->cfg.triggerNote = eeprom_read(eepromAddr + 1);
p->cfg.durationMax = (int)eeprom_read(eepromAddr + 2) << 8;
p->cfg.durationMax |= (int)eeprom_read(eepromAddr + 3);
p->cfg.durationModulator = eeprom_read(eepromAddr + 4);
p->cfg.dutyMax = eeprom_read(eepromAddr + 5);
p->cfg.dutyModulator = eeprom_read(eepromAddr + 6);
byte flags = eeprom_read(eepromAddr + 7);
p->cfg.invert = !!(flags & EEPROM_FLAG_INVERT);
// default to full duration/duty
p->status.duration = p->cfg.durationMax;
p->status.duty = p->cfg.dutyMax;
calcCheckSum((byte*)&p->cfg, sizeof(PORT_CONFIG), &cs);
}
if(forceReload || eeprom_read(EEPROM_ADDR_CHECKSUM) != cs)
{
// failed checksum (possibly no previous stored config)
flashLed(10);
initPortInfo();
savePortInfo();
}
}
////////////////////////////////////////////////////////////
// ENTRY POINT
void main()
{
int i;
// osc control / 8MHz / internal
osccon = 0b01110001;
// timer0... configure source and prescaler
cmcon0 = 7;
// enable serial receive interrupt
intcon = 0b11000000;
pie1.5 = 1;
// configure io
trisa = 0b00001000;
trisc = 0b01000000;
ansel = 0b00000000;
porta=0;
portc=0;
init_usart();
flashLed(3);
// loop forever
for(;;)
{
if(bSynchCount)
{
if(!--bSynchCount)
P_SYNCH = 0;
}
if(bRestartCount)
{
if(!--bRestartCount)
P_RESTART = 0;
}
}
}
void bot1(void)
{
/* Puts bot in motion (`forward()`) */
forward();
/* Loops until collision (boolean is set in ISR) */
while (!hitWall) {
for (int i(0); i < NUM_BUMPERS; ++i) {
if (digitalRead(bumpers[i])) {
hitWall = true;
}
}
delay(1);
}
Serial.println("Hit wall");
/* Moves backward until red and stops */
actionUntilColor(RED, backward);
turn(-80); /* negative to turn right */
actionUntilColor(RED, turnRight);
/* Flash a red LED */
flashLed(RED_LED); /* pauses for 1 second to flash */
/* Follows red until centre yellow */
while (!followColorUntilColor(RED, YELLOW)) {}
Serial.println("Found yellow");
forward();
delay(PUSH_CONST);
turn(-20);
stop();
/* Stops on yellow, flashing yellow LED twice */
flashLed(YELLOW_LED); /* pauses for 1 second to flash */
flashLed(YELLOW_LED); /* pauses for 1 second to flash */
/* experimentally necessary to avoid thick black line */
forward();
delay(75);
/* Follows yellow */
Serial.println("Following yellow until red");
while (!followColorUntilColor(YELLOW, RED)) {}
forward();
delay(PUSH_CONST);
stop();
/* Follows red */
Serial.println("Following red until yellow");
while (!followColorUntilColor(RED, YELLOW)) {}
/* Stops on yellow, turns on yellow LED, turns 180 degrees */
Serial.println("Turning until red");
stop();
digitalWrite(YELLOW_LED, HIGH);
turn(220); /* ensures we escape red and actually turn */
actionUntilColor(RED, turnLeft);
/* Follows red back to the middle */
while (!followColorUntilColor(RED, YELLOW)) {}
Serial.println("Found yellow and about to communicate");
forward();
delay(PUSH_CONST);
stop();
/* Communicates to Bot 2: `START` */
transmit(startMsg, MSG_LEN, TIMEOUT);
Serial.println("flashing green LED");
/* Flashes green LED twice */
flashLed(GREEN_LED); /* pauses for 1 second to flash */
flashLed(GREEN_LED); /* pauses for 1 second to flash */
/* Follows yellow */
while (!followColorUntilColor(YELLOW, RED)) {}
forward();
delay(PUSH_CONST);
stop();
/* Follows red, stops on yellow */
while (!followColorUntilColor(RED, YELLOW)) {}
/* Turns on green LED */
digitalWrite(GREEN_LED, HIGH);
/* Waits for `TOXIC` */
Serial.println("Receiving toxic message");
turnLeft(45);
while (!receive(recMsg, MSG_LEN)) {}
stop();
delay(2 * TIMEOUT); /* don't double receive a message */
/* Flash yellow LED continuously */
digitalWrite(YELLOW_LED, HIGH);
/* Waits for `STOP_YELLOW` */
turnLeft(45);
while (!receive(recMsg, MSG_LEN)) {}
/* Turns off yellow LED */
digitalWrite(YELLOW_LED, LOW);
delay(TIMEOUT); /* don't double receive a message */
/* Waits for `DONE` */
Serial.println("Receiving toxic message");
turnLeft(45);
while (!receive(recMsg, MSG_LEN)) {}
stop();
/* Flashes green LED */
while (1) { flashLed(GREEN_LED); }
}
void bot2(void)
{
/* Waits for `START` */
Serial.println("Waiting for start");
while (!receive(recMsg, MSG_LEN)) {}
delay(500);
/* Flash green LED twice */
Serial.println("Lit green led");
flashLed(GREEN_LED); /* pauses for 1 second to flash */
flashLed(GREEN_LED); /* pauses for 1 second to flash */
/* Puts bot in motion (`forward()`) */
forward();
/* Loops until collision (boolean is set in ISR) */
while (!hitWall) {
for (int i = 0; i < NUM_BUMPERS; ++i) {
if (digitalRead(bumpers[i])) {
hitWall = true;
}
}
delay(1);
}
Serial.println("Hit wall");
/* Moves backward until blue and stops */
actionUntilColor(BLUE, backward);
turn(80); /* positive to turn left */
actionUntilColor(BLUE, turnLeft);
/* Stops on blue, flashing a blue LED */
flashLed(BLUE_LED);
/* Turns a predetermined angle to the right, and follows blue */
while (!followColorUntilColor(BLUE, YELLOW)) {}
Serial.println("Found yellow");
forward();
delay(PUSH_CONST);
stop();
/* Stops on yellow, flashing yellow LED twice */
flashLed(YELLOW_LED);
flashLed(YELLOW_LED);
/* Follows yellow */
Serial.println("Following yellow until blue");
while (!followColorUntilColor(YELLOW, BLUE)) {}
forward();
delay(PUSH_CONST);
stop();
/* Follows blue */
Serial.println("Following blue until yellow");
while (!followColorUntilColor(BLUE, YELLOW)) {}
/* Stops on yellow, turns on yellow LED, turns 180 degrees */
Serial.println("Turning until blue");
stop();
digitalWrite(YELLOW_LED, HIGH);
turn(-180);
actionUntilColor(BLUE, turnRight);
/* Communicates to Bot 1: `TOXIC` */
transmit(startMsg, MSG_LEN, TIMEOUT);
/* Flash yellow continuously */
flashLed(YELLOW_LED);
digitalWrite(YELLOW_LED, HIGH);
/* Follows blue, stops on yellow */
while (!followColorUntilColor(BLUE, YELLOW)) {}
forward();
delay(PUSH_CONST);
stop();
/* Communicates to Bot 1: `STOP_YELLOW` */
transmit(startMsg, MSG_LEN, TIMEOUT);
/* Stop flashing yellow LED */
digitalWrite(YELLOW_LED, LOW);
/* Follows yellow until blue */
while (!followColorUntilColor(YELLOW, BLUE)) {}
forward();
delay(PUSH_CONST);
stop();
/* Follows blue, stops on yellow */
while (!followColorUntilColor(BLUE, YELLOW)) {}
stop();
/* Communicates to Bot 1: `DONE` */
transmit(doneMsg, MSG_LEN, TIMEOUT);
/* Flashes green LED */
while (1) { flashLed(GREEN_LED); }
}
void flashBlue() {
flashLed(0xff,0x00,0xCC);
}
void flashRed() {
flashLed(0xff,0x00,0x00);
}
void flashOrange() {
flashLed(0xff,0x66,0x00);
}
void flashGreen() {
flashLed(0x00,0xff,0x00);
}
