int main(void) {
WordVal src_addr_init = {SRC_ADDR};
WordVal src_pan_id_init = {SRC_PAN_ID};
WordVal dst_addr_init = {DST_ADDR};
SetupClock();
SwitchClocks();
SetupPorts();
batSetup();
swatchSetup();
radioInit(src_addr_init, src_pan_id_init, RXPQ_MAX_SIZE, TXPQ_MAX_SIZE);
radioSetChannel(MY_CHAN); //Set to my channel
macSetDestAddr(dst_addr_init);
dfmemSetup();
unsigned char memsize;
memsize = dfmemGetChipSize();
xlSetup();
gyroSetup();
mcSetup();
cmdSetup();
//senSetup();
adcSetup();
pidSetup();
steeringSetup();
//radioReadTrxId(id);
LED_RED = 1;
LED_BLUE = 0;
LED_YELLOW = 0;
//while(1);
if(phyGetState() == 0x16) { LED_GREEN = 1; }
//print("Ready");
//readDFMemBySample(5);
while(1) {
cmdHandleRadioRxBuffer();
//Simple idle ; reduces idle current to 70 mA
// TODO (abuchan, apullin, fgb) : Idle() causes unexpected behavior
//if(radioIsRxQueueEmpty()){
// Idle();
//}
}
}
// Figures out memory geometry by querying its size
static void dfmemGeometrySetup(void)
{
unsigned char size;
size = dfmemGetChipSize();
switch(size){
case DFMEM_8MBIT:
dfmem_geo.max_sector = FLASH_8MBIT_MAX_SECTOR;
dfmem_geo.max_pages = FLASH_8MBIT_MAX_PAGES;
dfmem_geo.buffer_size = FLASH_8MBIT_BUFFERSIZE;
dfmem_geo.bytes_per_page = FLASH_8MBIT_BYTES_PER_PAGE;
dfmem_geo.pages_per_block = FLASH_8MBIT_PAGES_PER_BLOCK;
dfmem_geo.blocks_per_sector = FLASH_8MBIT_BLOCKS_PER_SECTOR;
dfmem_geo.pages_per_sector = FLASH_8MBIT_PAGES_PER_SECTOR;
dfmem_geo.byte_address_bits = FLASH_8MBIT_BYTE_ADDRESS_BITS;
break;
case DFMEM_16MBIT:
dfmem_geo.max_sector = FLASH_16MBIT_MAX_SECTOR;
dfmem_geo.max_pages = FLASH_16MBIT_MAX_PAGES;
dfmem_geo.buffer_size = FLASH_16MBIT_BUFFERSIZE;
dfmem_geo.bytes_per_page = FLASH_16MBIT_BYTES_PER_PAGE;
dfmem_geo.pages_per_block = FLASH_16MBIT_PAGES_PER_BLOCK;
dfmem_geo.blocks_per_sector = FLASH_16MBIT_BLOCKS_PER_SECTOR;
dfmem_geo.pages_per_sector = FLASH_16MBIT_PAGES_PER_SECTOR;
dfmem_geo.byte_address_bits = FLASH_16MBIT_BYTE_ADDRESS_BITS;
break;
case DFMEM_32MBIT:
dfmem_geo.max_sector = FLASH_32MBIT_MAX_SECTOR;
dfmem_geo.max_pages = FLASH_32MBIT_MAX_PAGES;
dfmem_geo.buffer_size = FLASH_32MBIT_BUFFERSIZE;
dfmem_geo.bytes_per_page = FLASH_32MBIT_BYTES_PER_PAGE;
dfmem_geo.pages_per_block = FLASH_32MBIT_PAGES_PER_BLOCK;
dfmem_geo.blocks_per_sector = FLASH_32MBIT_BLOCKS_PER_SECTOR;
dfmem_geo.pages_per_sector = FLASH_32MBIT_PAGES_PER_SECTOR;
dfmem_geo.byte_address_bits = FLASH_32MBIT_BYTE_ADDRESS_BITS;
break;
case DFMEM_64MBIT:
dfmem_geo.max_sector = FLASH_64MBIT_MAX_SECTOR;
dfmem_geo.max_pages = FLASH_64MBIT_MAX_PAGES;
dfmem_geo.buffer_size = FLASH_64MBIT_BUFFERSIZE;
dfmem_geo.bytes_per_page = FLASH_64MBIT_BYTES_PER_PAGE;
dfmem_geo.pages_per_block = FLASH_64MBIT_PAGES_PER_BLOCK;
dfmem_geo.blocks_per_sector = FLASH_64MBIT_BLOCKS_PER_SECTOR;
dfmem_geo.pages_per_sector = FLASH_64MBIT_PAGES_PER_SECTOR;
dfmem_geo.byte_address_bits = FLASH_64MBIT_BYTE_ADDRESS_BITS;
break;
default:
// TODO (apullin, fgb) : Do something. Probably communicate back with user.
break;
}
}
