void hTimer(uint tick, uint Unused)
{
if(tick==1) {
io_printf(IO_STD, "Collecting all workers ID\n");
spin1_schedule_callback(pingWorkers, 0,0,PRIORITY_PROCESSING);
}
// after 3 ticks, all workers should have reported
else if(tick==3) {
io_printf(IO_STD, "Total workers: %d\n", workers.tAvailable);
for(int i=0; i<workers.tAvailable; i++) {
io_printf(IO_STD, "worker-%d is core-%d\n", i, workers.wID[i]);
}
}
else if(tick==5) {
io_printf(IO_STD, "Distributing workload...\n");
// send worker's block ID, except to leadAp
uint check, key, payload;
for(uint i=1; i<workers.tAvailable; i++) {
key = workers.wID[i];
payload = workers.tAvailable << 16;
payload += i;
check = spin1_send_mc_packet(key, payload, WITH_PAYLOAD);
if(check==SUCCESS)
io_printf(IO_BUF, "Sending id-%d to core-%d\n", payload, key);
else
io_printf(IO_BUF, "Fail sending id-%d to core-%d\n", payload, key);
}
io_printf(IO_STD, "Ready for image...\n");
spin1_callback_off(TIMER_TICK);
}
}
void compass_received(uint key, uint payload)
{
io_printf(IO_STD, "this was a compass message: %08x,%08x \n", key, payload);
if ( abs(heading - payload) > 100000) {
spin1_send_mc_packet(0x111002a0,0x40,1); // slowly forwards
io_printf(IO_STD, "Go forwards again.\n");
spin1_send_mc_packet(0x111002a2,0,1); // no roll
spin1_callback_off(MCPL_PACKET_RECEIVED); // deregister my callback
heading = -1; //reset heading
}
}
