int main(){
Board_init();
Serial_init();
Timer_init();
Xbee_init(XBEE_UART_ID);
printf("Xbee Test 2\n");
while(1){
Xbee_runSM();
//if(!UART_isTransmitEmpty(UART1_ID));
//printf("%d\t",Mavlink_returnACKStatus(messageName_start_rescue));
if(!UART_isReceiveEmpty(UART1_ID)){
Serial_getChar();
Mavlink_send_start_rescue(UART2_ID, TRUE, 0xFF, 0x34FD, 0xAB54);
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
printf("\nSENT\n");
}
else if(Timer_isActive(TIMER_TIMEOUT) != TRUE && Mavlink_returnACKStatus(messageName_start_rescue) == ACK_STATUS_WAIT){
//else if(Timer_isActive(TIMER_TIMEOUT) != TRUE){
Mavlink_editACKStatus(messageName_start_rescue, ACK_STATUS_DEAD);
printf("ACK DEAD\n");
}
else if(Mavlink_returnACKStatus(messageName_start_rescue) == ACK_STATUS_DEAD){
Mavlink_send_start_rescue(UART2_ID, TRUE, 0xFF, 0x34FD, 0xAB54);
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
}
else if(Mavlink_returnACKStatus(messageName_start_rescue) == ACK_STATUS_RECIEVED){
Mavlink_editACKStatus(messageName_start_rescue, ACK_STATUS_NO_ACK);
printf("GPS SENT AND ACKOWLEGED\n");
}
}
}
int main(void)
{
Board_init();
UART_init(UART2_ID,9600);
printf("\r\nUno Serial Test Harness\r\nAfter this Message the terminal should mirror anything you type.\r\n");
unsigned char ch = 0;
int x;
while (1) {
if (UART_isTransmitEmpty(UART1_ID) == TRUE){
if (UART_isReceiveEmpty(UART1_ID) == FALSE){
ch = UART_getChar(UART1_ID);
UART_putChar(UART1_ID, ch);
printf(" Through UART2: ");
UART_putChar(UART2_ID, ch);
x = 1024;
while(--x){
if(UART_isReceiveEmpty(UART2_ID) ==FALSE)
break;
}
if(UART_isReceiveEmpty(UART2_ID) == FALSE){
printf("%c\n", UART_getChar(UART2_ID));
} else{
printf("FAILED\n");
}
//DELAY(1000)
}
}
}
return 0;
}
int main(){
Board_init();
Board_configure(USE_TIMER);
DELAY(10);
DBPRINT("Starting XBee...\n");
if (Xbee_init(XBEE_UART_ID) != SUCCESS) {
DBPRINT("Failed XBee init.\n");
return FAILURE;
}
DBPRINT("XBee initialized.\n");
DELAY(STARTUP_DELAY);
Timer_new(TIMER_TEST, PRINT_DELAY);
unsigned long int sent = 0;
unsigned long int got = 0;
while(1){
Xbee_runSM();
if (Timer_isExpired(TIMER_TEST)) {
//dbprint("XBee: Sent=%ld, Got=%ld\n", ++sent, got);
Mavlink_sendRequestOrigin();
Timer_new(TIMER_TEST, PRINT_DELAY);
}
if (Mavlink_hasNewMessage()) {
++got;
}
}
return SUCCESS;
}
int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Serial_init();
Encoder_init();
float angle;
while(1){
if(Encoder_isLockPressed() || Encoder_isZeroPressed()){
Encoder_runSM();
// if(useZeroAngle){
// angle = Encoder_getAverageAngle();
// while(!Serial_isTransmitEmpty());
// printf("Angle: %.2f\n", angle);
// }
// else
// zeroAngle = Encoder_getZeroAngle();
//
// useZeroAngle = FALSE;
// zeroFlag = FALSE;
}
}
return (SUCCESS);
}
int main(void) {
unsigned int i, j;
Board_init();
PWM_init(PWM_PORTX11 | PWM_PORTY04 | PWM_PORTY10 | PWM_PORTY12 | PWM_PORTZ06, FIRST_PERIOD);
printf("Uno PWM Test Harness\r\n");
printf("Ramping PWM from %d-%d%% in 10%% steps at %d with a delay between\r\n", MIN_RAMP, MAX_RAMP, FIRST_PERIOD);
unsigned char ch = 0;
for (j = MIN_RAMP; j <= MAX_RAMP; j += 100) {
PWM_setDutyCycle(PWM_PORTX11, j);
PWM_setDutyCycle(PWM_PORTY04, j + 20);
PWM_setDutyCycle(PWM_PORTY10, j + 40);
PWM_setDutyCycle(PWM_PORTY12, j + 60);
PWM_setDutyCycle(PWM_PORTZ06, j + 80);
printf("Outputting %d%% Duty Cycle\r\n", j / 10);
DELAY(10000);
}
printf("Setting Period to %d and repeating ramp\r\n", SECOND_PERIOD);
PWM_end();
PWM_init(PWM_PORTX11 | PWM_PORTY04 | PWM_PORTY10 | PWM_PORTY12 | PWM_PORTZ06, SECOND_PERIOD);
for (j = MIN_RAMP; j <= MAX_RAMP; j += 100) {
PWM_setDutyCycle(PWM_PORTX11, j);
PWM_setDutyCycle(PWM_PORTY04, j + 20);
PWM_setDutyCycle(PWM_PORTY10, j + 40);
PWM_setDutyCycle(PWM_PORTY12, j + 60);
PWM_setDutyCycle(PWM_PORTZ06, j + 80);
printf("Outputting %d%% Duty Cycle\r\n", j / 10);
DELAY(10000);
}
PWM_end();
return 0;
}
int initialize(){
Board_init(&board);
if (displayMode == GUI){
int initializationError = GUI_init();
if (initializationError){
return initializationError;
}
}
state = SETTINGS;
maxRecursionDepth = 1;
player1 = WHITE;
turn = player1;
first = WHITE;
gameMode = TWO_PLAYERS_MODE;
PieceCounter_setToMax(counter);
movesOfSelectedPiece = NULL;
isInCheck = 0;
gameEnded = 0;
settingInvalidPiece = 0;
kingIsMissing = 0;
modifyingPiece = '_';
time_t t;
srand((unsigned) time(&t)); // initializing random number generator
return 0;
}
void set_up(){
// Stop WDT
WDT_A_hold(WDT_A_BASE);
// Basic GPIO initialization
Board_init();
Clock_init();
// Set up LCD
lcd_init();
print_string(22,30,"*WELCOME*");
Delay();
//Buttons S1 S2
switch_init();
//PORTD=0xFF;
//adc 6.6 pin
adc_init();
//DDRC=0XFF;
eeprom_address=0x0000;
AdcThreshold=eeprom_read_byte(eeprom_address);
eeprom_address++;
dcval=eeprom_read_byte(eeprom_address);
eeprom_address++;
fourier_offset=eeprom_read_byte(eeprom_address);
eeprom_address=0x10;
FThreshold=eeprom_read_byte(eeprom_address);
//usart_init();
//pwm_init();
}
int main(void) {
//initializations
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
Interface_init();
//I2C_init(I2C_ID, I2C_CLOCK_FREQ);
dbprint("Interface online.\n");
DELAY(STARTUP_DELAY);
Timer_new(TIMER_TEST, DEBUG_PRINT_DELAY);
//cycle and check if buttons are pressed, if so, turn light on for 3 seconds
while(1) {
#ifdef DO_STUFF
//check to see which button is pressed
if(Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(0,0);
dbprint("Ok=%d, C=%d, R=%d, S=%x,\n Reset=%x, SS=%x\n",
Interface_isOkPressed(), Interface_isCancelPressed(),
Interface_isRescuePressed(), Interface_isStopPressed(),
Interface_isResetPressed(), Interface_isSetStationPressed());
Timer_new(TIMER_TEST, DEBUG_PRINT_DELAY);
}
Interface_runSM();
#endif
}
return SUCCESS;
}
int main(void){
// Initialize the UART,Timers, and I2C1
int count = 0;
Board_init();
Timer_init();
Serial_init();
Thermal_init();
while(1){
if(count == 0){
readChipTemp();
calculateChipTemp();
}
count++;
if(count >= 16){
count = 0;
}
readPixelValue();
readCPixelValue();
calculateIRTemp();
int i;
for(i = 0; i <= 63; ++i){
while(!Serial_isTransmitEmpty());
printf("V_ir[%d]: %.2f\n",i,finalPixelTempF[i]);
}
}
}
/*
* ======== main ========
*/
int main()
{
/* initialize all device/board specific peripherals */
Board_init();
Task_Params taskParams;
System_printf("Startup\n");
System_flush();
/* initialize taskParams to the defaults */
Task_Params_init(&taskParams);
taskParams.priority = Task_numPriorities - 1;
taskParams.stackSize = 0x800;
/* Set the task name */
taskParams.instance->name = (xdc_String)"hello";
/* Create the task */
Task_create(hello_task, &taskParams, NULL);
/* does not return */
BIOS_start();
return (0); /* should never get here, but just in case ... */
}
int main(void) {
//initializations
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
Interface_init();
//I2C_init(I2C_ID, I2C_CLOCK_FREQ);
DELAY(10);
dbprint("Interface online.\n");
DELAY(STARTUP_DELAY);
enum {
CANCEL = 1,
OK,
STOP,
RESCUE,
SETSTATION,
IDLE,
RESET
} state;
//cycle and check if buttons are pressed, if so, turn light on for 3 seconds
while(1) {
//check to see which button is pressed
if(Interface_isCancelPressed() && state != CANCEL){
state = CANCEL;
LCD_setPosition(0,0);
dbprint("Cancel.\n");
}else if(Interface_isOkPressed() && state != OK){
state = OK;
LCD_setPosition(0,0);
dbprint("Ok.\n");
}else if(Interface_isStopPressed() && state != STOP){
state = STOP;
LCD_setPosition(0,0);
dbprint("Stop.\n");
}else if(Interface_isRescuePressed() && state != RESCUE){
state = RESCUE;
LCD_setPosition(0,0);
dbprint("Rescue.\n");
}else if(Interface_isSetStationPressed() && state != SETSTATION){
state = SETSTATION;
LCD_setPosition(0,0);
dbprint("Set station.\n");
}else if(Interface_isResetPressed() && state != RESET){
state = RESET;
LCD_setPosition(0,0);
dbprint("Reset.\n");
}else{
// Nothing
}
Interface_runSM();
}
return SUCCESS;
}
int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
dbprint("Starting encoders...\n");
I2C_init(I2C_ID, I2C_CLOCK_FREQ);
Encoder_init();
Interface_init();
Timer_new(TIMER_TEST, PRINT_DELAY );
while (!Timer_isExpired(TIMER_TEST)) {
Encoder_runSM();
}
// Not working?
//Encoder_setZeroPitch();
//Encoder_setZeroYaw();
dbprint("Encoders initialized.\n");
DELAY(STARTUP_DELAY)
Timer_new(TIMER_TEST, PRINT_DELAY );
bool clearedCalibrateMessage = TRUE;
Timer_new(TIMER_TEST2,CALIBRATE_HOLD_DELAY);
//Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY);
Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY);
LCD_setPosition(0,0);
dbprint("Encoders:\n");
while(1) {
if (Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(1,0);
dbprint(" P=%.1f,\n Y=%.1f\n",Encoder_getPitch(), Encoder_getYaw());
Timer_new(TIMER_TEST, PRINT_DELAY );
}
if (Interface_isOkPressed() && Timer_isExpired(TIMER_TEST2)) {
Encoder_setZeroPitch();
Encoder_setZeroYaw();
LCD_setPosition(3,0);
dbprint("Zeroed encoders.\n");
clearedCalibrateMessage = FALSE;
Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY);
Interface_readyLightOff();
Timer_new(TIMER_TEST2,CALIBRATE_HOLD_DELAY);
}
if (Timer_isExpired(TIMER_TEST2) && !clearedCalibrateMessage) {
clearedCalibrateMessage = TRUE;
LCD_setPosition(3,0);
dbprint(" ");
Interface_readyLightOn();
}
Encoder_runSM();
Interface_runSM();
}
return (SUCCESS);
}
int main(void)
{
Board_init();
Serial_initSM();
printf("\r\nUno Serial Test Harness\r\nAfter this Message the terminal should mirror anything you type.\r\n");
while (1) {
Serial_runSM();
}
return 0;
}
void resetToDefaults(){
Board_init(&board);
first = WHITE;
gameMode = TWO_PLAYERS_MODE;
maxRecursionDepth = 1;
player1 = WHITE;
turn = first;
isInCheck = 0;
gameEnded = 0;
chosePromotionMove = 0;
modifyingPiece = '_';
}
int main(void)
{
Board_init();
Serial_init();
LCD_init();
Timer_init();
printf("Testing the LCD display.\nYou should see: Hello World!\n");
LCD_writeString("Hello World!\nLine2\nLine3\nLine4\n");
Timer_new(TIMER_TEST,WRITE_DELAY);
while (!Timer_isExpired(TIMER_TEST)) {
asm("nop");
}
printf("Overwriting line 1\n");
LCD_writeString("Testing overtop line1.\n");
Timer_new(TIMER_TEST,WRITE_DELAY);
while (!Timer_isExpired(TIMER_TEST)) {
asm("nop");
}
printf("Clearing Display\n");
LCD_clearDisplay();
Timer_new(TIMER_TEST,WRITE_DELAY);
while (!Timer_isExpired(TIMER_TEST)) {
asm("nop");
}
LCD_writeString("Here.we.go\n");
LCD_writeString("CLEARED!\n");
LCD_writeString("CLEARED2!\n");
LCD_writeString("CLEARED3!\n");
Timer_new(TIMER_TEST,WRITE_DELAY);
while (!Timer_isExpired(TIMER_TEST)) {
asm("nop");
}
LCD_clearDisplay();
LCD_writeString("N: E: \n");
char tmp[10];
LCD_setPosition(0,3);
sprintf(tmp,"%.2f",12.5f);
LCD_writeString(tmp);
LCD_setPosition(0,13);
sprintf(tmp,"%.2f",-0.32f);
LCD_writeString(tmp);
return SUCCESS;
}
int main(){
//Initializations
Board_init();
Serial_init();
Timer_init();
if (Drive_init() != SUCCESS) {
printf("Failed to initialize drive module.\n");
}
I2C_init(TILT_COMPASS_I2C_ID, I2C_CLOCK_FREQ);
if (TiltCompass_init() != SUCCESS) {
printf("Failed to initialize tilt compass module.\n");
}
ENABLE_OUT_TRIS = OUTPUT;
while (1) {
printf("Driving north at full speed.\n");
Timer_new(TIMER_TEST, COMMAND_DELAY);
Drive_forwardHeading(100, 0);
while(!Timer_isExpired(TIMER_TEST)) {
//wait for finish
DELAY(1);
Drive_runSM();
TiltCompass_runSM();
}
Drive_stop();
Drive_runSM();
TiltCompass_runSM();
printf("Driving south at full speed.\n");
Timer_new(TIMER_TEST, COMMAND_DELAY);
Drive_forwardHeading(100, 180);
while(!Timer_isExpired(TIMER_TEST)) {
//wait for finish
DELAY(1);
Drive_runSM();
TiltCompass_runSM();
}
Drive_stop();
Drive_runSM();
TiltCompass_runSM();
delayMillisecond(COMMAND_DELAY);
printf("Waiting for retry...\n");
}
return SUCCESS;
}
int main(){
//Initializations
Board_init();
Serial_init();
Timer_init();
Drive_init();
ENABLE_OUT_TRIS = OUTPUT;
ENABLE_OUT_LAT = MICRO;
#ifdef RECIEVE_CONTROL
ENABLE_OUT_LAT = RECIEVER;
while(1){
asm("nop");
}
#endif
printf("State machine test harness.\n\n");
// Test forward state
printf("Forward state. Driving at 5, 10, 20, 40, 60, 80, 100, 125 \%.\n");
uint8_t speed[] = {5, 10, 20, 40, 60, 80, 100, 125};
int i, len = sizeof(speed);
delayMillisecond(STATE_DELAY);
for (i = 0; i < len; i++) {
Drive_forward(speed[i]);
delayMillisecond(STATE_DELAY);
}
Drive_stop();
delayMillisecond(STATE_DELAY);
setRudder(STOP_PULSE);
delayMillisecond(STATE_DELAY);
// Forward with heading
printf("Track state. Driving at 5, 10, 25, 50, 100 \% at 0 deg north.\n");
uint8_t speed2[] = {5, 10, 25, 50, 100};
len = sizeof(speed2);
delayMillisecond(STATE_DELAY);
for (i = 0; i < len; i++) {
Drive_forwardHeading(speed2[i], 0);
delayMillisecond(STATE_DELAY);
}
Drive_stop();
printf("Finished state machine test.\n\n");
return SUCCESS;
}
int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Serial_init();
I2C_init(MAGNETOMETER_I2C_ID, I2C_CLOCK_FREQ);
Magnetometer_init();
while(1){
Magnetometer_runSM();
while(!Serial_isTransmitEmpty());
printf("Angle: %.1f\n", Magnetometer_getDegree());
}
return (SUCCESS);
}
int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
dbprint("Check encoder addr\n");
I2C_init(ENCODER_I2C_ID, I2C_CLOCK_FREQ);
uint8_t pitchAddress = readDevice(SLAVE_PITCH_READ_ADDRESS,
SLAVE_PITCH_WRITE_ADDRESS, READ_DIAGNOSTIC_ADDRESS);
uint8_t yawAddress = readDevice(SLAVE_YAW_READ_ADDRESS,
SLAVE_YAW_WRITE_ADDRESS, READ_DIAGNOSTIC_ADDRESS);
dbprint("Pitch=0x%X\nYaw=0x%X\n",pitchAddress, yawAddress);
return SUCCESS;
}
int main(void)
{
Board_init();
Serial_init();
printf("\r\nUno Serial Test Harness\r\nAfter this Message the terminal should mirror anything you type.\r\n");
unsigned char ch = 0;
while (1) {
if (Serial_isTransmitEmpty() == TRUE)
if (Serial_isReceiveEmpty() == FALSE)
Serial_putChar(Serial_getChar());
}
return 0;
}
int main(){
//Initializations
Board_init();
Serial_init();
Timer_init();
Drive_init();
ENABLE_OUT_TRIS = OUTPUT;
ENABLE_OUT_LAT = MICRO;
setLeftMotor(100);
setRightMotor(100);
while (1)
asm("nop");
return SUCCESS;
}
/**********************************************************************
* Function: init
* @return None.
* @remark Initializes the boat's master state machine and all modules.
* @author David Goodman
* @date 2013.04.24
**********************************************************************/
static void Watchdog_init(void) {
Board_init();
Board_configure(USE_SERIAL | USE_TIMER);
//Board_configure(USE_LCD | USE_TIMER);
DELAY(10);
// I2C bus
//I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
#ifdef USE_XBEE
Xbee_init(XBEE_UART_ID);
#endif
#ifdef USE_LOGGER
Logger_init();
#endif
}
void SysInit(void)
{
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
Board_init(); // Basic GPIO initialization
SetVCore(3); // Set Vcore to accomodate for max. allowed system speed
LFXT_Start(XT1DRIVE_0); // Use 32.768kHz XTAL as reference, ACLK: SELA = 000, DIVA = 000
Init_FLL_Settle(25000, 762); // Set system clock to max (25MHz)
LcdInit();
LcdClear();
//display_rect();
AD9954Init();
P4SEL = 0x00;
P4DIR = 0x00;
P4REN = 0xff;
}
int main() {
ENABLE_OUT_TRIS = OUTPUT; //Set Enable output pin to be an output, fed to the AND gates
ENABLE_OUT_LAT = MICRO; //Initialize control to that of Microcontroller
Board_init();
Serial_init();
Timer_init();
Drive_init();
I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
TiltCompass_init();
printf("Boat initialized.\n");
Drive_stop();
DELAY(5);
#ifdef MOTOR_TEST
Drive_pivot(0);
#endif
#ifdef RUDDER_TEST
Drive_forwardHeading(0.0, desiredHeading);
#endif
int i = 0;
int velocity[] = {1600, 1600, 1600, 1600, 1600};
velocityPulse = velocity[i];
Timer_new(TIMER_TEST,FINISH_DELAY);
while (1) {
if (Timer_isExpired(TIMER_TEST))
{
i++;
if (i == 5){
i = 0;
}
velocityPulse = velocity[i];
printf("CURRENT VELOCITY: %d\n\n",velocityPulse);
Timer_new(TIMER_TEST,FINISH_DELAY);
}
Drive_runSM();
TiltCompass_runSM();
}
Drive_stop();
return SUCCESS;
}
int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
dbprint("Starting encoders...\n");
I2C_init(ENCODER_I2C_ID, I2C_CLOCK_FREQ);
if (Encoder_init() != SUCCESS) {
dbprint("Failed init. encoder\n");
return FAILURE;
}
Timer_new(TIMER_TEST, PRINT_DELAY );
while (!Timer_isExpired(TIMER_TEST)) {
Encoder_runSM();
}
// Not working?
//Encoder_setZeroPitch();
//Encoder_setZeroYaw();
dbprint("Encoders initialized.\n");
DELAY(STARTUP_DELAY);
Timer_new(TIMER_TEST, PRINT_DELAY );
LCD_setPosition(0,0);
dbprint("Encoders:\n");
while(1){
if (Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(1,0);
dbprint(" P=%.1f,\n Y=%.1f\n",Encoder_getPitch(), Encoder_getYaw());
/*dbprint("Encoders:\n P=%d,\n Y=%d\n",
readDevice(SLAVE_PITCH_READ_ADDRESS,SLAVE_PITCH_WRITE_ADDRESS),
readDevice(SLAVE_YAW_READ_ADDRESS,SLAVE_YAW_WRITE_ADDRESS));*/
/*dbprint("Encoders:\n P=%.1f,\n Y=%.1f\n",
readDevice(SLAVE_PITCH_READ_ADDRESS,SLAVE_PITCH_WRITE_ADDRESS) * DEGREE_PER_NUMBER,
readDevice(SLAVE_YAW_READ_ADDRESS,SLAVE_YAW_WRITE_ADDRESS) * DEGREE_PER_NUMBER);*/
Timer_new(TIMER_TEST, PRINT_DELAY );
}
Encoder_runSM();
}
return (SUCCESS);
}
/**
* Function: initMasterSM
* @return None.
* @remark Initializes the master state machine for the command canter.
* @author David Goodman
* @date 2013.03.10 */
void initMasterSM() {
Board_init();
Serial_init();
Timer_init();
// CC buttons
LOCK_BUTTON_TRIS = 1;
ZERO_BUTTON_TRIS = 1;
Encoder_init();
#ifdef USE_XBEE
Xbee_init();
#endif
#ifdef USE_NAVIGATION
Navigation_init();
#endif
#ifdef USE_ENCODERS
I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
#endif
#ifdef USE_ACCELEROMETER
//printf("Initializing accelerometer...\n");
if (Accelerometer_init() != SUCCESS) {
printf("Failed to initialize the accelerometer.\n");
//return;
}
//printf("Initialized the accelerometer.\n");
// Configure ports as outputs
LED_N_TRIS = OUTPUT;
LED_S_TRIS = OUTPUT;
LED_E_TRIS = OUTPUT;
LED_W_TRIS = OUTPUT;
Timer_new(TIMER_ACCELEROMETER, LED_DELAY );
#endif
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
taskDISABLE_INTERRUPTS();
/* Disable the watchdog. */
WDTCTL = WDTPW + WDTHOLD;
//halBoardInit();
Board_init();
// Set Vcore to accomodate for max. allowed system speed
SetVCore(3);
// Use 32.768kHz XTAL as reference
LFXT_Start(XT1DRIVE_0);
// Set system clock to max (25MHz)
Init_FLL_Settle(25000, 762);
SFRIFG1 = 0;
SFRIE1 |= OFIE;
//LFXT_Start( XT1DRIVE_0 );
//hal430SetSystemClock( configCPU_CLOCK_HZ, configLFXT_CLOCK_HZ );
//halButtonsInit( BUTTON_ALL );
Buttons_init(BUTTON_ALL);
//halButtonsInterruptEnable( BUTTON_SELECT );
Buttons_interruptEnable(BUTTON_S2);
/* Initialise the LCD, but note that the backlight is not used as the
library function uses timer A0 to modulate the backlight, and this file
defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate
the tick interrupt. If the backlight is required, then change either the
halLCD library or vApplicationSetupTimerInterrupt() to use a different
timer. Timer A1 is used for the run time stats time base6. */
//halLcdInit();
//halLcdSetContrast( 100 );
//halLcdClearScreen();
//halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );
}
int main(void) {
//initializations
Board_init();
Serial_init();
Timer_init();
LCD_init();
Interface_init();
printf("INITIALIZATIONS COMPLETE\n");
LCD_writeString("Interface online.\n");
Timer_new(TIMER_TEST, 100);
while (1) {
if (Timer_isExpired(TIMER_TEST)) {
printf("%X -- C:%X F:%X\n",Interface_isOkPressed(), buttonCount.okay, buttonPressed.flag.okay);
Timer_new(TIMER_TEST, 100);
}
Interface_runSM();
}
}
/**********************************************************************
* Function: initializeAtlas
* @return None.
* @remark Initializes the boat's master state machine and all modules.
* @author David Goodman
* @date 2013.04.24
**********************************************************************/
static void initializeAtlas() {
Board_init();
Serial_init();
Timer_init();
#ifdef USE_DRIVE
Drive_init();
#endif
// I2C bus
I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
#ifdef USE_TILTCOMPASS
TiltCompass_init();
#endif
#ifdef USE_GPS
GPS_init();
#endif
#ifdef USE_NAVIGATION
Navigation_init();
#endif
#ifdef USE_OVERRIDE
Override_init();
#endif
#ifdef USE_BAROMETER
Barometer_init();
Timer_new(TIMER_BAROMETER_SEND, BAROMETER_SEND_DELAY);
#endif
// Start calibrating before use
startSetOriginSM();
Timer_new(TIMER_HEARTBEAT, HEARTBEAT_SEND_DELAY);
Mavlink_sendStatus(MAVLINK_STATUS_ONLINE);
}
int main(){
Board_init();
Serial_init();
printf("Welcome to Xbee Test1\n");
printf("UART INIT\n");
Timer_init();
printf("Timers Init\n");
if(Xbee_init(XBEE_UART_ID) == FAILURE){
printf("Xbee Failed to initilize\n");
return FAILURE;
}
printf("XBEE Initialized\n");
// Master sends packets and listens for responses
#ifdef XBEE_1
Mavlink_send_Test_data(XBEE_UART_ID, 1);
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
Timer_new(TIMER_STATUS, DELAY_STATUS);
while(1){
Xbee_runSM();
//lost a packet, report it, and restart
if(Timer_isActive(TIMER_TIMEOUT) != TRUE){
Mavlink_send_Test_data(XBEE_UART_ID, 1);
count_lost++;
Timer_new(TIMER_TIMEOUT, DELAY_TIMEOUT);
printf("lost_packet: %d\n", get_time());
}
//Printout the status
if(Timer_isActive(TIMER_STATUS) != TRUE){
Timer_new(TIMER_STATUS, DELAY_STATUS);
printf("Status: %d,%d [Recieved,Lost] TIME: %d\n", count_recieved, count_lost, get_time());
}
}
#else
while(1){
Xbee_runSM();
}
#endif
}
