int initialize_camera()
{
struct termios camera_term;
// Initialize serial to camera
int tty = open("/dev/camera", O_RDWR | O_NOCTTY | O_NDELAY);
tcgetattr(tty, &camera_term);
cfmakeraw(&camera_term);
camera_term.c_cflag = B115200;
camera_term.c_cflag = CS8 | CREAD | CLOCAL;
camera_term.c_iflag = IGNPAR | IGNBRK;
tcflush(tty, TCOFLUSH);
tcsetattr(tty,TCSANOW,&camera_term);
//Set tracking settings
char tc[] = "om 0 0\r"; //Suppress output from tracking
char servo[] = "sm 5\r";//Set to pan servo active and pan servo report
char color_track[] = "tc 144 194 37 87 0 41\r";
write(tty,&tc,sizeof(tc));
rx_ack(tty);
write(tty,&servo,sizeof(servo));
rx_ack(tty);
write(tty, &color_track,sizeof(color_track));
rx_ack(tty);
return tty;
}
//Turn on servo
void start_tracking(int tty)
{
char servo[] = "so 0 1\r";//Turn on Servo
write(tty,&servo,sizeof(servo));
rx_ack(tty);
}
//Turn off servos
void stop_tracking(int tty)
{
char servo[] = "so 0 0\r";//Turn off Servo
write(tty,&servo,sizeof(servo));
rx_ack(tty);
}
/**
* The main function.
*/
int main( void )
{
/* Stop the watchdog timer. */
WDTCTL = WDTPW + WDTHOLD;
/* Setup MCLK 8MHz and SMCLK 1MHz */
set_mcu_speed_xt2_mclk_8MHz_smclk_1MHz();
/* Enable Interrupts */
eint();
LEDS_INIT();
LEDS_ON();
uart0_init(UART0_CONFIG_1MHZ_115200);
printf("CC2420 TX test program with address recognition and acknowledge frames\r\n");
cc2420_init();
cc2420_io_sfd_register_cb(sfd_cb);
cc2420_io_sfd_int_set_falling();
cc2420_io_sfd_int_clear();
cc2420_io_sfd_int_enable();
cc2420_set_txpower(CC2420_2_45GHz_TX_0dBm);
uint8_t fcf[2] = {0x21, 0x88}; /* -> 00100001 10001000 -> reverse of bits for each byte -> 10000100 00010001 -> ack bit = 1 (6th bit), Frame type = 001 (don't forget to read from right to left) */
uint8_t seq_numb = 0x01;
uint8_t dest_pan_id[2] = {0x22, 0x00};
uint8_t dest_addr[2] = {0x11, 0x11};
uint8_t src_pan_id[2] = {0x22, 0x01};
uint8_t src_addr[2] = {0x11, 0x12};
while ( (cc2420_get_status() & 0x40) == 0 ); // waiting for xosc being stable
cc2420_set_panid(src_pan_id); // save pan id in ram
cc2420_set_shortadr(src_addr); // save short address in ram
printf("CC2420 initialized\r\n");
LEDS_OFF();
while (1)
{
cc2420_cmd_idle();
cc2420_cmd_flushtx();
txlength = sprintf((char *)txframe, "Hello World #%i", seq_numb);
printf("Sent : %s of length %d\r\n", txframe,txlength);
txlength += 13;
cc2420_fifo_put(&txlength, 1);
cc2420_fifo_put(fcf, 2);
cc2420_fifo_put(&seq_numb, 1);
cc2420_fifo_put(dest_pan_id, 2);
cc2420_fifo_put(dest_addr, 2);
cc2420_fifo_put(src_pan_id, 2);
cc2420_fifo_put(src_addr, 2);
cc2420_fifo_put(txframe, txlength-13);
LED_BLUE_TOGGLE();
cc2420_cmd_tx();
micro_delay(0xFFFF);
while (cc2420_io_sfd_read());
printf("Waiting for acknowledge frame...\n");
if (rx_ack())
{
seq_numb ++;
}
else
{
printf("No Acknowledge frame received for frame number #%i - Retrying...\r\n\n", seq_numb);
LED_RED_TOGGLE();
}
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
}
return 0;
}