int main(void)
{
mcusr_save = MCUSR;
MCUSR = 0;
wdt_disable();
if (!(mcusr_save & WDRF))
{
seqnum = 0;
}
#ifdef SN_TEMP_DDR
// configure pin for analog
SN_TEMP_DDR &= ~SN_TEMP_MASK; // set as input
SN_TEMP_PORT &= ~SN_TEMP_MASK; // pull-ups off
DIDR0 |= SN_TEMP_MASK; // disable digital input buffer
#endif
SN_LED_DDR |= SN_LED_MASK; // set as output
SN_LED_PORT &= ~SN_LED_MASK;
vw_setup();
#ifdef SN_RX_CAPABLE
vw_rx_start();
#endif
for (int i=0;i<3;i++)
{
send_status(SN_ADDRESS_BROADCAST);
vw_wait_tx();
}
for (;;) {
#ifdef SN_RX_CAPABLE
if (vw_have_message()) {
uint8_t len = sizeof(msg);
if (vw_get_message((uint8_t *)&msg, &len)) {
if (msg.header.destination == SN_ADDRESS_ME|| msg.header.destination == SN_ADDRESS_BROADCAST) {
process_msg();
} else {
// TODO - consider routing here
}
} else {
// bad message
}
}
#endif
#ifdef SN_TX_CAPABLE
// Process any outgoing stuff
if (millis() - last_status > STATUS_PERIOD) {
send_status(SN_ADDRESS_BROADCAST);
}
if (millis() - last_sensor_data > SENSOR_PERIOD) {
send_sensor_data(SN_ADDRESS_BROADCAST);
}
#endif // SN_TX_CAPABLE
#ifdef USE_MILLIS
//set_sleep_mode(SLEEP_MODE_IDLE);
//sleep_enable();
//sleep_cpu();
//sleep_disable();
#endif
}
}
//-----------------------------------------------------
//处理接收到的数据
//return:1-收到命令正确；0-收到命令错误
void rece_dispatch()
{
uint8_t len=buffer[0];
uint8_t error=0;;
if(buffer[1]!=0xfe || buffer[2]!=0x04 || (buffer[len]!=check_sum(&buffer[1],len-1)) )
{
//收到错误命令回复
send_shakehand(0);
}
//解析命令
switch(buffer[3])
{
case 0x01://确认命令
break;
case 0x02://初始化flash存储区
flash_init();
break;
case 0x03://收到时间设置命令
RTC_Set_datetime(&buffer[5]);
RTC_AlarmConfig(buffer[8],buffer[9]+1);
//SEGGER_RTT_printf(0,"set_time=%02d-%02d-%02d;%02d-%02d-%02d;\r\n",buffer[5],buffer[6],buffer[7],buffer[8],buffer[9],buffer[10]);
break;
case 0x04://step length
sys_para.step_len=buffer[5];
sys_para.height=*(uint16_t *)(&buffer[6]);
//flash_erase_para_sector();
break;
case 0x05://return serial number
send_version_info();
break;
case 0x0a://模式切换
if(buffer[5]>0x03)
error=1;
else
curr_mode=buffer[5];
break;
case 0x06://read now sports data
send_sensor_data();
break;
case 0x09://中断批量传输
bat_upload=0;
break;
default:
send_shakehand(0);//收到异常命令S
return;
};
SEGGER_RTT_printf(0,"rece comm=%x;\r\n",buffer[3]);
if(buffer[3]!=0x01)
{
//回复确认收到
if(error==0)
send_shakehand(1);
else
send_shakehand(0);
}
}
void run_commands(void)
{
if (send_now)
send_response();
if (send_hk)
send_housekeeping();
if (send_data)
send_sensor_data();
if (msg_received)
send_coms_packet();
if (read_response)
send_read_response();
if (write_response)
send_write_response();
if (set_sens_h)
set_sensor_high();
if (set_sens_l)
set_sensor_low();
if (set_varf)
set_var();
if (new_tm_msgf)
receive_tm_msg();
if (tc_packet_readyf)
send_pus_packet_tc();
if (event_readyf)
send_event();
if (ask_alive)
send_ask_alive();
if (enter_low_powerf)
enter_low_power();
if (exit_low_powerf)
exit_low_power();
if (enter_take_overf)
enter_take_over();
if (exit_take_overf)
exit_take_over();
if (pause_operationsf)
pause_operations();
if (resume_operationsf)
resume_operations();
return;
}
/* Processes COMM_SENSOR_DATA messages
*/
void process_sensor_data( const uint8_t *data, uint8_t size )
{
static uint8_t delay = 0;
/* notify that a new request has been received */
flag_new_request = 1;
/* extract motor signals ID */
javiator_data.id = (data[ size-3 ] << 8) | data[ size-2 ];
/* update sensor status */
enable_sensors( data[ size-1 ] );
/* send sensor data to Robostix 1 */
send_sensor_data( );
if( ++delay % 10 == 0 )
{
LED_TOGGLE( YELLOW );
}
}
