/* Main function starts here*/
int main(void)
{
//Functions to set up the neccessary registers for GPIO, UART and SPI peripherals and motors
// mInit();
InitPeripherals();
mYellowON; mRedON; mGreenON; mWhiteON; mBlueON;
DelayMilliseconds(10000);
mYellowOFF;mRedOFF;mGreenOFF; mWhiteOFF; mBlueOFF;
debug_setup();
//Enter Module number to give it corresponding static IP
//ie 192.168.10.(110+num)
cc3000_initialize_ip(10);
cc3000_startup_check();
//Initialization for motors
// motor_dir_init();
// TIMA_config(100, 20,10); // timer1 channel 1 PA8
// TIMB_config(100, 20,10); // timer2 channel 3 PA9
// TIMC_config(100, 20,10); // timer15 channel 1 PB14
// TIMD_config(100, 20,10); // timer2 channel 2 PA1 // first 2 numbers
// in this function are not doing anything
// Motormsg testmsg;
mGreenOFF;
MsgDof *testmsg2;
// testmsg.motor_0_vel = 34;
// testmsg.motor_1_vel = 34;
// testmsg.motor_0_direction = 34;
// testmsg.motor_1_direction = 3489;
uint8_t testarray[3] = {1,0,7};
testmsg2 = (MsgDof*)testarray;
/* Uncomment the function to use the desired socket for communication
* ONLY ONE of the following functions should be uncommented
*/
udp_socket_communication(); //UDP socket communication
// tcp_socket_server(); //TCP socket communication as a server
// tcp_socket_client(); //TCP socket communication as a client
//Transmit and Receive in an infinite loop
while(1){
//Transmit data
sendto(desSocket, testmsg2, sizeof(*testmsg2), 0, (sockaddr*) &des_addr, sizeof(des_addr));
//mWaitms(2); //Delay is needed between send and receive functions
//Receive data
revLen = recvfrom(revSocket, rev_buf, 10, 0, (sockaddr*) &source_addr, &revPacketLen);
if(revLen>0){
//debug_write_u32(source_addr.sin_addr.s_addr, 16);
debug_write_bytes(rev_buf, revLen);
if(rev_buf[0] = 5)
{
mBlueON;
DelayMilliseconds(100);
}
//motor_test(rev_buf[0]);
// mPurpleTOGGLE;
mRedON;
}
//Available function seems to cause lots of overhead, avoid using it if speed is desired
/*
if(available(revSocket)==1){
revLen = recvfrom(revSocket, rev_buf, 10, 0, (sockaddr*) &source_addr, &revPacketLen);
//debug_write_bytes(rev_buf, revLen);
motor_test(rev_buf[0]);
mRedTOGGLE;
}
*/
//Heartbeat
mGreenTOGGLE;
//mWaitms(2); //Delay is needed between send and receive functions
}
}
PROCESS_THREAD(debug_process, ev, data) {
char line[MAX_LINE_LENGTH];
uint16_t read;
uint8_t b;
uint32_t flashAddress = 0;
uint32_t flashCount = 0;
uint32_t t = 0;
PROCESS_BEGIN();
while (1) {
PROCESS_YIELD();
while (dma_ring_buffer_readline(&g_debugUsartDmaInputRingBuffer, line, MAX_LINE_LENGTH)) {
if (strcmp(line, "!CONNECT\n") == 0) {
debug_write_line("+OK");
debug_write_line("!clear");
debug_write_line("!set name,dc-electronic-load");
debug_write_line("!set description,'DC Electonic Load'");
}
else if (strcmp(line, "!RESET\n") == 0) {
debug_write_line("+OK");
NVIC_SystemReset();
}
#ifdef ADC_ENABLE
else if (strcmp(line, "!ADCLAST\n") == 0) {
debug_write("+OK ");
debug_write_u16(lastAdcValue[0], 10);
debug_write(",");
debug_write_u16(lastAdcValue[1], 10);
debug_write(",");
debug_write_u16(lastAdcValue[2], 10);
debug_write(",");
debug_write_u16(lastAdcValue[3], 10);
debug_write(",");
debug_write_u16(setCurrentMilliamps, 10);
debug_write_line("");
} else if (strcmp(line, "!ADCRAW\n") == 0) {
debug_write("+OK ");
debug_write_u16(adc_sample(ADC_CH0_SINGLE), 10);
debug_write(",");
debug_write_u16(adc_sample(ADC_CH1_SINGLE), 10);
debug_write(",");
debug_write_u16(adc_sample(ADC_CH2_SINGLE), 10);
debug_write(",");
debug_write_u16(adc_sample(ADC_CH3_SINGLE), 10);
debug_write_line("");
}
#endif
#ifdef FAN_ENABLE
else if (strncmp(line, "!FANSET ", 8) == 0) {
uint8_t fanSetOverride = atoi(line + 8);
fan_set(fanSetOverride);
debug_write_line("+OK");
} else if (strcmp(line, "!FANGET\n") == 0) {
debug_write("+OK ");
debug_write_u8(fan_get(), 10);
debug_write_line("");
}
#endif
#ifdef DISP6800_ENABLE
else if (strcmp(line, "!DISPON\n") == 0) {
disp6800_set_display_onoff(DISP6800_DISPLAY_ON);
debug_write_line("+OK");
} else if (strcmp(line, "!DISPOFF\n") == 0) {
disp6800_set_display_onoff(DISP6800_DISPLAY_OFF);
debug_write_line("+OK");
}
#endif
#ifdef FLASH_ENABLE
else if (strcmp(line, "!FLASHCLEAR\n") == 0) {
flashsst25_erase_chip();
debug_write_line("+OK");
} else if (strncmp(line, "!FLASHWRITE ", 12) == 0) {
flashAddress = atoi(line + 12);
flashCount = FLASH_BLOCK_SIZE;
debug_write_line("+READY");
t = time_ms();
while (1) {
if (flashCount <= 0) {
debug_write("+OK ");
debug_write_u32(flashAddress, 10);
debug_write_line("");
break;
}
if ((time_ms() - t) > 5000) {
debug_write_line("-FAIL");
break;
}
if ((read = dma_ring_buffer_read(&g_debugUsartDmaInputRingBuffer, (uint8_t*)line, MIN(flashCount, sizeof(line)))) <= 0) {
continue;
}
flashsst25_write(flashAddress, (uint8_t*)line, read);
flashAddress += read;
flashCount -= read;
t = time_ms();
}
} else if (strncmp(line, "!FLASHREAD ", 11) == 0) {
flashAddress = atoi(line + 11);
flashCount = FLASH_BLOCK_SIZE;
debug_write_line("+OK");
flashsst25_read_begin(flashAddress);
while (flashCount > 0) {
b = flashsst25_read();
debug_write_bytes(&b, 1);
flashCount--;
}
flashsst25_read_end();
}
#endif
else {
debug_write("?Unknown command: ");
debug_write_line(line);
}
}
}
PROCESS_END();
}
