void wifi_init()
{
REG_IPC_FIFO_CR = IPC_FIFO_ENABLE | IPC_FIFO_SEND_CLEAR;
/*
* Our half of the ARM7 Wifi handshaking:
* Send it a pointer to the shared memory area for Wifi.
*/
REG_IPC_FIFO_TX = IPC_MSG_WIFI_INIT;
REG_IPC_FIFO_TX = Wifi_Init(WIFIINIT_OPTION_USELED);
/* Disable TIMER3 before setting up its IRQ handler */
TIMER3_CR = 0;
irqInit();
irqSet(IRQ_VBLANK, vblank_irq_handler);
irqEnable(IRQ_VBLANK);
irqSet(IRQ_TIMER3, wifi_timer_handler);
irqEnable(IRQ_TIMER3);
irqSet(IRQ_FIFO_NOT_EMPTY, fifo_irq_handler);
irqEnable(IRQ_FIFO_NOT_EMPTY);
REG_IPC_FIFO_CR = IPC_FIFO_ENABLE | IPC_FIFO_RECV_IRQ;
Wifi_SetSyncHandler(wifi_sync_handler);
/* Program TIMER3 for 50ms intervals */
TIMER3_DATA = TIMER_FREQ_256(1000 / WIFI_TIMER_MS);
TIMER3_CR = TIMER_DIV_256 | TIMER_IRQ_REQ;
/* Poll for the ARM7 init to finish */
while (!Wifi_CheckInit()) {
swiWaitForVBlank();
}
}
void arm9_wifiInit()
{
// send fifo message to initialize the arm7 wifi
REG_IPC_FIFO_CR = IPC_FIFO_ENABLE | IPC_FIFO_SEND_CLEAR; // enable & clear FIFO
u32 Wifi_pass= Wifi_Init(WIFIINIT_OPTION_USELED);
REG_IPC_FIFO_TX=0x12345678;
REG_IPC_FIFO_TX=Wifi_pass;
*((volatile u16 *)0x0400010E) = 0; // disable timer3
irqSet(IRQ_TIMER3, arm9_wifiTimer); // setup timer IRQ
irqEnable(IRQ_TIMER3);
irqSet(IRQ_FIFO_NOT_EMPTY, arm9_fifo); // setup fifo IRQ
irqEnable(IRQ_FIFO_NOT_EMPTY);
REG_IPC_FIFO_CR = IPC_FIFO_ENABLE | IPC_FIFO_RECV_IRQ; // enable FIFO IRQ
Wifi_SetSyncHandler(arm9_synctoarm7); // tell wifi lib to use our handler to notify arm7
// set timer3
*((volatile u16 *)0x0400010C) = -(131062*WifiTimerInterval_ms/1000); // 131062 * 256 cycles = ~1000ms;
*((volatile u16 *)0x0400010E) = 0x00C2; // enable, irq, 1/256 clock
while(Wifi_CheckInit()==0)
{ // wait for arm7 to be initted successfully
WaitVbl(); // wait for vblank
}
// wifi init complete - wifi lib can now be used!
}
void wifiInit() {
REG_IPC_FIFO_CR = IPC_FIFO_ENABLE | IPC_FIFO_SEND_CLEAR;
u32 Wifi_pass = Wifi_Init(WIFIINIT_OPTION_USELED);
REG_IPC_FIFO_TX = 0x12345678;
REG_IPC_FIFO_TX = Wifi_pass;
*((volatile u16 *)0x0400010E) = 0;
irqSet(IRQ_TIMER3, T50);
irqEnable(IRQ_TIMER3);
irqSet(IRQ_FIFO_NOT_EMPTY, ARM9FIFO);
irqEnable(IRQ_FIFO_NOT_EMPTY);
REG_IPC_FIFO_CR = IPC_FIFO_ENABLE | IPC_FIFO_RECV_IRQ;
Wifi_SetSyncHandler(ARMSYNC);
*((volatile u16 *)0x0400010C) = -6553;
*((volatile u16 *)0x0400010E) = 0x00C2;
while(!Wifi_CheckInit()) swiWaitForVBlank();
}
int main(void)
{
aplist *head = NULL;
aplist *cur;
bool attached = true;
// change this to false if you are only testing servos
bool wifi_scan = true;
// change this for emulator
bool emulate = false;
float pain = 0.9f;
time_t update = 0;
uint8 num;
uint8 servo_pos = 0;
uint8 current_servo = 1;
unsigned char SERVO_PINS[3] = { SERVO_PIN1 ,SERVO_PIN2 ,SERVO_PIN3 } ;
uint16 val[3] = { 0 };
uint8 i;
touchPosition touch;
videoSetMode(MODE_4_2D);
vramSetBankA(VRAM_A_MAIN_BG);
// set up our bitmap background
bgInit(3, BgType_Bmp16, BgSize_B16_256x256, 0,0);
decompress(cclogoBitmap, BG_GFX, LZ77Vram);
// initialise lower screen for textoutput
consoleDemoInit();
if (emulate == false) {
iprintf("Initializing WiFi.. ");
Wifi_InitDefault(false);
while (Wifi_CheckInit() != 1) {
}
Wifi_ScanMode();
iprintf("done\n");
iprintf("Initializing DS brut.. ");
uart_init();
uart_set_spi_rate(1000);
iprintf("done\n\n\n");
iprintf("Using servo pins: %u %u %u\n\n", SERVO_PIN1, SERVO_PIN2, SERVO_PIN3);
iprintf("Default pain multiplier: %.2f\n\n", pain);
swiDelay(60000000);
while (1) {
scanKeys();
touchRead(&touch);
if (keysDown() & KEY_X) {
if (attached) {
servo_detach(SERVO_PIN1);
servo_detach(SERVO_PIN2);
servo_detach(SERVO_PIN3);
attached = false;
} else {
attached = true;
}
}
if (keysDown() & KEY_A) {
if (attached) {
uint8 i = 0;
for (i=0;i<3;i++) {
servo_set(SERVO_PINS[i],0);
}
}
//servo_set(SERVO_PIN1, 180-((rand() % 100)+(rand() % 50)+(rand() % 25)));
//servo_set(SERVO_PIN2, 180-((rand() % 100)+(rand() % 50)+(rand() % 25)));
//servo_set(SERVO_PIN3, 180-((rand() % 100)+(rand() % 50)+(rand() % 25)));
}
if (keysDown() & KEY_B) {
if (wifi_scan == true) {
wifi_scan = false;
}
else {
wifi_scan = true;
}
}
if (keysDown() & KEY_DOWN) {
pain -= 0.1f;
if (pain < 0.0f) {
pain = 0.0f;
}
update = time(NULL);
}
if (keysDown() & KEY_UP) {
pain += 0.1f;
if (2.0f < pain) {
pain = 2.0f;
}
update = time(NULL);
}
if (keysDown() & KEY_L) {
current_servo += 1;
if (current_servo > 3) {
current_servo = 1;
}
}
consoleClear();
if (wifi_scan == true) {
num = 0;
cur = head;
iprintf("\n");
while (cur && num < 15) {
// display
if (!(cur->flags & 0x2)) {
cur = cur->next;
continue;
}
iprintf("%2u ", num);
if (cur->ssid[0] == '\0') {
iprintf("%02x%02x%02x%02x%02x%02x", cur->mac[0], cur->mac[1], cur->mac[2], cur->mac[3], cur->mac[4], cur->mac[5]);
} else {
iprintf("%s", cur->ssid);
}
iprintf(" @ %u", cur->rssi);
if ((cur->flags & 0x06) == 0x06) {
iprintf(" WPA");
} else if (cur->flags & 0x02) {
iprintf(" WEP");
}
// calculate servo commands
if (attached && num < 3) {
val[num] = (uint16)(cur->rssi*pain);
if (180 < val[num]) {
val[num] = 180;
}
iprintf(" %u", val[num]);
}
iprintf("\n");
if (num == 2) {
iprintf ("\n");
}
num++;
cur = cur->next;
}
iprintf("\n");
if (time(NULL) < update+3) {
printf("\npain multiplier: %.2f\n", pain);
}
// set the servo to zero if we don't have enough wifi nodes
for (i=num; i<3; i++) {
val[i] = 0;
}
if (attached) {
servo_set(SERVO_PIN1, (uint8)val[0]);
servo_set(SERVO_PIN2, 180-(uint8)val[1]);
servo_set(SERVO_PIN3, (uint8)val[2]);
}
updateApList(&head, 0x00, NULL, NULL);
sortApList(&head, false);
}
if (KEY_TOUCH && attached && !wifi_scan) {
servo_pos = (touch.rawx / 3850.) * 180;
iprintf ("servo pos x: %d;", servo_pos);
iprintf ("\n");
servo_set(SERVO_PINS[current_servo-1],servo_pos);
iprintf ("current servo: %d", current_servo);
iprintf ("\n\n");
}
swiWaitForVBlank();
}
}
while (1) {
swiWaitForVBlank();
}
return 0;
}
