void radio_cfg() {
IRQ_ENABLE;
at_config();
tx_chan = CHANNEL;
rx_chan = CHANNEL;
at_rxmode(rx_chan);
//here is the antenna diversity stuff
char reg_old_div;
char reg_old_ctrl;
reg_old_div = at_get_reg(RG_ANT_DIV);
reg_old_ctrl = at_get_reg(RG_RX_CTRL);
//without diversity:
//reg_old_div |= 0x05; //use antenna 1 On-chip 60,56
reg_old_div |= 0x06; //use antenna 0 Coax 57,57
reg_old_ctrl |= 0x07; //no matter which antenna is used
//with diversity:
//reg_old_div |= 0x0d; //use antenna diversity
//reg_old_ctrl |= 0x03; //recommended value when using antenna diversity*/
at_set_reg(RG_ANT_DIV, reg_old_div);
at_set_reg(RG_RX_CTRL, reg_old_ctrl);
cmd_mode = CMD_MODE_SPIN;
cmd_mode_changed = 0;
cmd_ledmode = CMD_LEDMODE_CNT;
return;
}
char *set_config(char *message, const char *name, const char *value)
{
pthread_mutex_lock(&m_atcommand);
cpt_seq++;
at_config(message, cpt_seq, name, value);
if (send_message(message, at_socket) != 0)
printf("[FAILED] Message sending failed\n");
pthread_mutex_unlock(&m_atcommand);
return message;
}
int main ()
{
char message [512];
int n = 1;
int tps = 1;
int wait =1;
/*
//handle the ctrl -c to make the drone land
struct sigaction act;
memset(&act,0,sizeof(act));
act.sa_handler = intHandler;
sigaction(SIGINT, &act, NULL);
*/
if (init_socket() != 0)
{
printf("[FAILED] Socket initialization failed\n");
}
else //complex_move(...;float roll_power, float pitch_power, float vertical_power, float yaw_power)
{
sleep(1);
printf("demarrage\n");
set_trim(message, n++, wait);
while(tps < 167)
{
take_off(message, n++, wait);
tps++;
}
tps = 0;
//test de fonction
at_config(message, n++, "pic:ultrasound_freq","2");
//while(tps < 133)
//while(1)
while(keepRunning)
{
reset_com(message, wait);
tps++;
}
tps = 0;
/*
printf("debut commande\n");
while(tps < 500)
{
//go front and up and turning clockwise
set_complex_move(message,n++,0,-0.05,0.1,0.05,wait);
tps++;
}
tps = 0;
set_complex_move(message, n++,0,0,0,0,wait);
while(tps < 133)
{
reset_com(message,wait);
tps++;
}
tps = 0;
*/
landing(message, n++,wait);
sleep(1);
}
close(sockfd);
return 0;
}
