int main(void) {
di();
OSCCON = 0x78;
led_init();
//sound_init();
radio_init();
motors_init();
adc_init();
ei();
while (1) {
/* Listen for incoming radio packet */
if (radio_rx()) {
/* If a radio packet is pending
* send it immediately
*/
if (radio_len != 0) {
/* Send a packet */
unsigned char c;
LATB |= 0x01;
radio_tx_start();
radio_tx_data(radio_len);
for (c = 0; c < radio_len; c++)
radio_tx_data(radio_data[c]);
radio_tx_finish();
LATB &= ~0x01;
}
}
/* Read ADC values sequentally */
{
static char adc_ptr = 0;
const char adc_addr[6] = {4, 15, 11, 9, 30, 13};
/* Reading value */
char adc_id = adc_addr[adc_ptr];
adc_measure(adc_id);
adc_data[adc_ptr << 1] = ADRESH;
adc_data[(adc_ptr << 1) | 1] = ADRESL;
/* Incrementing address */
adc_ptr++;
if (adc_ptr >= 6)
adc_ptr = 0;
#ifdef FALSE_DEF
/* Checking battery voltage */
if (adc_id == 13) {
/* Voltage less then 3.0V */
if (ADRESH == 0 && ADRESL < 144) {
/* Power off */
LATA = 0;
LATB = 0;
LATC = 0;
di();
SLEEP();
}
}
#endif
}
}
}
void radio_tx_finish()
{
radio_tx_data(radio_tx_crc);
radio_off();
ei();
}
//***********************************************************************
//** Function: packet_tx
//**
//** Description: Transmits a packet
//**
//** Parameters: void *data - Pointer to data to transmit
//** char len - Number of bytes to transmit
//** Returns: None
//***********************************************************************
void packet_tx(void *data, char len)
{
(void)radio_tx_data(len, data);
}
