int main(void){
//Set LED pins to output
DDRB |= ALL_LEDS;
init_timers();
while (1) {
resetLedValues();
mLedValues[RED_INDEX] = R_MAX;
delay_seconds(RED_DELAY);
resetLedValues();
mLedValues[GREEN_INDEX] = G_MAX;
delay_seconds(GREEN_DELAY);
resetLedValues();
mLedValues[YELLOW_INDEX] = Y_MAX;
delay_seconds(YELLOW_DELAY);
}
return 0;
}
/**
* Called when the system hits a non-recoverable error. Ensure to use
* the correct PANIC_CAUSE_* enum to help users inform us of the issue.
*/
void panic(const enum panic_cause cause)
{
taskDISABLE_INTERRUPTS();
led_enable(LED_ERROR);
for(;;) {
led_enable(LED_GPS);
led_enable(LED_LOGGER);
delay_seconds(FLASH_PAUSE_DELAY_S);
led_disable(LED_GPS);
led_disable(LED_LOGGER);
delay_seconds(FLASH_DELAY_S);
for (int c = 0; c < cause; ++c) {
led_enable(LED_GPS);
led_enable(LED_LOGGER);
delay_seconds(FLASH_DELAY_S);
led_disable(LED_GPS);
led_disable(LED_LOGGER);
delay_seconds(FLASH_DELAY_S);
}
}
}
int main(void) {
int i;
int reading1;
int reading2;
int address;
int test_array[100];
for(i=0;i<100;i++) {
motor(0,i); //spin the left motor forward
motor(1,i); //spin the right motor forward
}
i=0;
while(i>-100) {
motor(0,i); //spin the left motor backwards
motor(1,i); //spin the right motor backwards
i--;
}
i=50;
set_servo(0,i); //set servo motor 0 to move to 50 degrees
set_servo(3,i); //set servo motor 3 to move to 50 degrees
delay_milliseconds(100); //pause 100 milliseconds
delay_seconds(1); //pause 1 second
lcd_clear();
lcd_cursor(0,0);
printf ("Test1\n"); //the LCD will be 8x2 (8chars x 2lines)
printf ("Test2\n");
reading1 = analog(0); //get a reading from analog pin 0
reading2 = analog(5); //get a reading from analog pin 5
reading1 = digital(0); //get a reading from digital pin 0
reading2 = digital(1); //get a reading from digital pin 1
if (reading1 > 100) {
printf ("%d\n", reading1);
}
reading1 = accelerometer(0); //read x-axis
reading2 = accelerometer(1); //read y-axis
reading1 = accelerometer(2); //read z-axis
reading1 = battery_voltage(); //battery voltage
reading1 = read_serial_port(); //get a byte from the serial port
write_serial_port(reading1); //send a byte on the serial port
led1(1); //turn on on-board led1
led1(0); //turn off on-board led1
reading1 = read_ir(); //get a reading from the IR receiver
reset(); //reset the board
write_eeprom(address, reading1); //write a value to the non-volatile eeprom (these values will be stored across resets)
reading1 = read_eeprom(address); //get a reading from the non-volatile eeprom
reading1 = button(); //read the state of the on-board button
return 0;
}
/* Returns the length of the file received, or 0 on error: */
int ymodem_receive(char *buf, unsigned int length)
{
unsigned char packet_data[PACKET_1K_SIZE + PACKET_OVERHEAD];
int packet_length, i, file_done, session_done, crc_tries, crc_nak, use_crc;
unsigned int packets_received, errors, timeout, first_try = 1;
char file_name[FILE_NAME_LENGTH], file_size[FILE_SIZE_LENGTH], *file_ptr;
char *buf_ptr;
unsigned long size = 0;
#ifdef CONFIG_MD5
unsigned int sum[MD5_SUM_WORDS];
#endif
if(crc16_init() < 0){
putstr("Unable to generate CRC16 lookup table\r\n");
return 0;
}
putstr("ready for YMODEM transfer...\r\n");
/* Give the user time to frantically type in the file name: */
timeout = INITIAL_TIMEOUT;
for(session_done = 0, errors = 0; ; ){
crc_tries = crc_nak = use_crc = 1;
if(!first_try)
putc(CRC);
first_try = 0;
for(packets_received = 0, file_done = 0, buf_ptr = buf; ; ){
switch(receive_packet(packet_data, &packet_length, use_crc, timeout)){
case 0:
errors = 0;
switch(packet_length){
case -1: /* abort */
putc(ACK);
return 0;
case 0: /* end of transmission */
putc(ACK);
/* Should add some sort of sanity check on the number of
* packets received and the advertised file length.
*/
file_done = 1;
break;
default: /* normal packet */
if((packet_data[PACKET_SEQNO_INDEX] & 0xff) !=
(packets_received & 0xff)){
putc(NAK);
} else {
if(packets_received == 0){
/* The spec suggests that the whole data section should
* be zeroed, but I don't think all senders do this. If
* we have a NULL filename and the first few digits of
* the file length are zero, we'll call it empty.
*/
for(i = PACKET_HEADER; i < PACKET_HEADER + 4; ++i)
if(packet_data[i] != 0)
break;
if(i < PACKET_HEADER + 4){ /* filename packet has data */
for(file_ptr = packet_data + PACKET_HEADER, i = 0;
*file_ptr && i < FILE_NAME_LENGTH;)
file_name[i++] = *file_ptr++;
file_name[i++] = '\0';
for(++file_ptr, i = 0;
*file_ptr != ' ' && i < FILE_SIZE_LENGTH;)
file_size[i++] = *file_ptr++;
file_size[i++] = '\0';
size = strtoul(file_size, NULL, 0);
if(size > length){
putc(CAN);
putc(CAN);
delay_seconds(3);
putstr("Receive buffer too small (");
putHexInt32(length);
putLabeledWord(") to accept file size ", size);
return 0;
}
putc(ACK);
putc(crc_nak ? CRC : NAK);
crc_nak = 0;
} else { /* filename packet is empty; end session */
putc(ACK);
file_done = 1;
session_done = 1;
break;
}
} else {
/* This shouldn't happen, but we check anyway in case the
* sender lied in its filename packet:
*/
if((buf_ptr + packet_length) - buf > length){
putc(CAN);
putc(CAN);
delay_seconds(3);
putLabeledWord("Sender exceeded size of receive buffer: ",
length);
return 0;
}
memcpy(buf_ptr, packet_data + PACKET_HEADER, packet_length);
buf_ptr += packet_length;
putc(ACK);
}
++packets_received;
} /* sequence number ok */
}
break;
default:
if(++errors >=
((packets_received == 0 ? MAX_CRC_TRIES : 0) + MAX_ERRORS)){
putc(CAN);
putc(CAN);
delay_seconds(1);
putstr("Too many errors during receive; giving up.\r\n");
return 0;
}
if(packets_received == 0){
if(crc_tries < MAX_CRC_TRIES) {
++crc_tries;
timeout = CRC_TIMEOUT;
} else {
crc_nak = use_crc = 0;
timeout = NAK_TIMEOUT;
}
}
putc(crc_nak ? CRC : NAK);
}
if(file_done)
break;
} /* receive packets */
if(session_done)
break;
} /* receive files */
#ifdef CONFIG_MD5
/* Give sender time to exit so that the subsequent MD5 display will be
* visible on the user's terminal:
*/
delay_seconds(1);
md5_sum(buf, size, sum);
md5_display(sum);
putstr(" ");
putstr(file_name);
putstr("\r\n");
#endif
return size;
}
