int main(){
Board_init();
Board_configure(USE_TIMER);
DELAY(10);
DBPRINT("Starting XBee...\n");
if (Xbee_init(XBEE_UART_ID) != SUCCESS) {
DBPRINT("Failed XBee init.\n");
return FAILURE;
}
DBPRINT("XBee initialized.\n");
DELAY(STARTUP_DELAY);
Timer_new(TIMER_TEST, PRINT_DELAY);
unsigned long int sent = 0;
unsigned long int got = 0;
while(1){
Xbee_runSM();
if (Timer_isExpired(TIMER_TEST)) {
//dbprint("XBee: Sent=%ld, Got=%ld\n", ++sent, got);
Mavlink_sendRequestOrigin();
Timer_new(TIMER_TEST, PRINT_DELAY);
}
if (Mavlink_hasNewMessage()) {
++got;
}
}
return SUCCESS;
}
int main(){
Board_init();
Serial_init();
Timer_init();
Xbee_init(XBEE_UART_ID);
printf("Xbee Test 2\n");
while(1){
Xbee_runSM();
//if(!UART_isTransmitEmpty(UART1_ID));
//printf("%d\t",Mavlink_returnACKStatus(messageName_start_rescue));
if(!UART_isReceiveEmpty(UART1_ID)){
Serial_getChar();
Mavlink_send_start_rescue(UART2_ID, TRUE, 0xFF, 0x34FD, 0xAB54);
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
printf("\nSENT\n");
}
else if(Timer_isActive(TIMER_TIMEOUT) != TRUE && Mavlink_returnACKStatus(messageName_start_rescue) == ACK_STATUS_WAIT){
//else if(Timer_isActive(TIMER_TIMEOUT) != TRUE){
Mavlink_editACKStatus(messageName_start_rescue, ACK_STATUS_DEAD);
printf("ACK DEAD\n");
}
else if(Mavlink_returnACKStatus(messageName_start_rescue) == ACK_STATUS_DEAD){
Mavlink_send_start_rescue(UART2_ID, TRUE, 0xFF, 0x34FD, 0xAB54);
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
}
else if(Mavlink_returnACKStatus(messageName_start_rescue) == ACK_STATUS_RECIEVED){
Mavlink_editACKStatus(messageName_start_rescue, ACK_STATUS_NO_ACK);
printf("GPS SENT AND ACKOWLEGED\n");
}
}
}
/**********************************************************************
* Function: init
* @return None.
* @remark Initializes the boat's master state machine and all modules.
* @author David Goodman
* @date 2013.04.24
**********************************************************************/
static void Watchdog_init(void) {
Board_init();
Board_configure(USE_SERIAL | USE_TIMER);
//Board_configure(USE_LCD | USE_TIMER);
DELAY(10);
// I2C bus
//I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
#ifdef USE_XBEE
Xbee_init(XBEE_UART_ID);
#endif
#ifdef USE_LOGGER
Logger_init();
#endif
}
/**
* Function: initMasterSM
* @return None.
* @remark Initializes the master state machine for the command canter.
* @author David Goodman
* @date 2013.03.10 */
void initMasterSM() {
Board_init();
Serial_init();
Timer_init();
// CC buttons
LOCK_BUTTON_TRIS = 1;
ZERO_BUTTON_TRIS = 1;
Encoder_init();
#ifdef USE_XBEE
Xbee_init();
#endif
#ifdef USE_NAVIGATION
Navigation_init();
#endif
#ifdef USE_ENCODERS
I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
#endif
#ifdef USE_ACCELEROMETER
//printf("Initializing accelerometer...\n");
if (Accelerometer_init() != SUCCESS) {
printf("Failed to initialize the accelerometer.\n");
//return;
}
//printf("Initialized the accelerometer.\n");
// Configure ports as outputs
LED_N_TRIS = OUTPUT;
LED_S_TRIS = OUTPUT;
LED_E_TRIS = OUTPUT;
LED_W_TRIS = OUTPUT;
Timer_new(TIMER_ACCELEROMETER, LED_DELAY );
#endif
}
int main(){
Board_init();
Serial_init();
printf("Welcome to Xbee Test1\n");
printf("UART INIT\n");
Timer_init();
printf("Timers Init\n");
if(Xbee_init(XBEE_UART_ID) == FAILURE){
printf("Xbee Failed to initilize\n");
return FAILURE;
}
printf("XBEE Initialized\n");
// Master sends packets and listens for responses
#ifdef XBEE_1
Mavlink_send_Test_data(XBEE_UART_ID, 1);
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
Timer_new(TIMER_STATUS, DELAY_STATUS);
while(1){
Xbee_runSM();
//lost a packet, report it, and restart
if(Timer_isActive(TIMER_TIMEOUT) != TRUE){
Mavlink_send_Test_data(XBEE_UART_ID, 1);
count_lost++;
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
printf("lost_packet: %d\n", get_time());
}
//Printout the status
if(Timer_isActive(TIMER_STATUS) != TRUE){
Timer_new(TIMER_STATUS, DELAY_STATUS);
printf("Status: %d,%d [Recieved,Lost] TIME: %d\n", count_recieved, count_lost, get_time());
}
}
#else
while(1){
Xbee_runSM();
}
#endif
}
int main(){
Board_init();
Board_configure(USE_SERIAL | USE_TIMER);
//Board_configure(USE_LCD | USE_TIMER);
DELAY(10);
dbprint("Starting XBee...\n");
if (Xbee_init(XBEE_UART_ID) != SUCCESS) {
dbprint("Failed XBee init.\n");
return FAILURE;
}
dbprint("XBee initialized.\n");
DELAY(STARTUP_DELAY);
LCD_setPosition(0,0);
Timer_new(TIMER_TEST, PRINT_DELAY);
unsigned long int sent = 0;
unsigned long int got = 0;
LCD_clearDisplay();
LCD_setPosition(2,0);
dbprint("Received: %ld", got);
while(1){
Xbee_runSM();
if (Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(0,0);
dbprint("Sent XBee msg.\nSent: %ld\n", ++sent);
Mavlink_sendSaveStation(WANT_ACK);
Timer_new(TIMER_TEST, PRINT_DELAY);
}
if (Mavlink_hasNewMessage()) {
LCD_setPosition(2,0);
dbprint("Received: %ld", ++got);
}
}
return SUCCESS;
}
