int main(void)
{
// _TRISD = 0;
pinIO();
serialSetup();
pwmSetup();
setupA2D();
timerSetup();
//infinete loop in which we count
while(1)
{
} //remain here forever, never end the main function.
return 0; //we should never really return
}
/**
* Main function.
*/
void main( void ) {
// set B0, B1, and B2 to output
set_bit( STATUS, RP0 );
clear_bit( TRISB, 0 );
clear_bit( TRISB, 1 );
clear_bit( TRISB, 2 );
clear_bit( STATUS, RP0 );
serialSetup();
// testing serial
/*while( 1 ) {
setBufferSize( 23 );
writeBuffer( "Testing Testing Testing" );
writeNewLine();
}
*/
//writeNewLine();
//waitForPrompt();
delay_ms( 100 );
writeNewLine();
delay_ms( 20 );
writeNewLine();
delay_ms( 20 );
writeNewLine();
delay_ms( 20 );
// turn the power on
setPower( 1 );
// wait for one secont for the power to come up
delay_s( 1 );
setInitialBlanking();
delay_ms( 20 );
while( 1 ) {
tooClose = 0;
tooCloseLeft = 0;
tooCloseRight = 0;
// for each group of units
for( groupIndex = 0; groupIndex < numGroups; groupIndex++ ) {
// for each unit in this group
for( inGroupIndex = 0;
inGroupIndex < numInGroup; inGroupIndex++ ) {
unitIndex = groupIndex * numInGroup + inGroupIndex;
echoTime = fireSonarUnit( unitIndex + 1 );
if( ( echoTime != 0 ) && ( echoTime < minEchoTime ) ) {
if( groupIndex == 0 ) {
tooCloseLeft = 1;
}
else {
tooCloseRight = 1;
}
}
}
}
tooClose = tooCloseLeft || tooCloseRight;
if( tooClose ) {
set_bit( PORTB, 0 );
}
else {
clear_bit( PORTB, 0 );
}
if( tooCloseLeft ) {
set_bit( PORTB, 1 );
}
else {
clear_bit( PORTB, 1 );
}
if( tooCloseRight ) {
set_bit( PORTB, 2 );
}
else {
clear_bit( PORTB, 2 );
}
}
}
int main()
{
screenInit();
screenPutString("BIOS Terminal v1.0 build " BUILD "\r\n(C) Copyright 2004 Wojtek Kaniewski <*****@*****.**>\r\nPress F12 to configure serial port\r\n\r\n");
serialSetup();
for (;;) {
#ifdef DEBUG_SERIAL
byte x, y, a;
x = screenX; y = screenY; a = screenAttr;
screenX = 30; screenY = 24; screenAttr = 7*16;
screenCursorNoUpdate = 1;
screenPutString(" s:");
screenPutHex((char)((char) serialRxHead - (char) serialRxTail));
screenPutString(" i:");
screenPutHex(portRead(0x21));
screenPutString(" t:");
screenPutHex(serialRxTail >> 8);
screenPutHex(serialRxTail &255);
screenPutString("/h:");
screenPutHex(serialRxHead >> 8);
screenPutHex(serialRxHead &255);
screenPutString(",");
screenPutHex(portRead(serialPort+1));
screenPutString(",");
screenPutHex(serialInterruptLast); // +2
screenPutString(",");
screenPutHex(portRead(serialPort+3));
screenPutString(",");
screenPutHex(portRead(serialPort+4));
screenPutString(",");
screenPutHex(portRead(serialPort+5));
screenPutString(",");
screenPutHex(portRead(serialPort+6));
screenPutString(" k:");
screenCursorNoUpdate = 0;
screenX = x; screenY = y; screenAttr = a;
screenCursorUpdate();
#endif // DEBUG_SERIAL
if (keyboardPressed()) {
char *seq = vtGetChar();
while (*seq) {
serialPutChar(*seq);
seq++;
}
}
while (serialDataReady()) {
char ch = serialGetChar();
vtPutChar(ch);
}
}
}
