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();
//}
}
}
int main ( void )
{
fun_queue = queueInit(FUN_Q_LEN);
rx_pay_queue = pqInit(12); //replace 12 with a #define const later
test_function tf;
/* Initialization */
SetupClock();
SwitchClocks();
SetupPorts();
SetupInterrupts();
SetupI2C();
SetupADC();
SetupTimer1();
SetupPWM();
SetupTimer2();
gyroSetup();
xlSetup();
dfmemSetup();
WordVal pan_id = {RADIO_PAN_ID};
WordVal src_addr = {RADIO_SRC_ADDR};
WordVal dest_addr = {RADIO_DEST_ADDR};
radioInit(src_addr, pan_id, RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetDestAddr(dest_addr);
radioSetChannel(RADIO_MY_CHAN);
char j;
for(j=0; j<3; j++){
LED_2 = ON;
delay_ms(500);
LED_2 = OFF;
delay_ms(500);
}
LED_2 = ON;
EnableIntT2;
while(1){
while(!queueIsEmpty(fun_queue))
{
rx_payload = pqPop(rx_pay_queue);
tf = (test_function)queuePop(fun_queue);
(*tf)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload));
payDelete(rx_payload);
}
}
return 0;
}
int main (void)
{
unsigned int i;
/* Initialization */
SetupClock();
SetupPorts();
batSetup();
cmdSetup();
mcSetup();
SetupADC();
SwitchClocks();
sclockSetup();
radioInit(TXPQ_MAX_SIZE, RXPQ_MAX_SIZE);
radioSetChannel(MY_CHAN);
radioSetSrcPanID(PAN_ID);
radioSetSrcAddr(SRC_ADDR);
dfmemSetup();
camSetup();
cambuffSetup();
gyroSetup();
cmdResetSettings();
for (i = 0; i < 6; i++)
{
LED_GREEN = ~LED_GREEN; delay_ms(50);
LED_RED = ~LED_RED; delay_ms(50);
LED_ORANGE = ~LED_ORANGE; delay_ms(50);
}
LED_GREEN = 0; LED_RED = 0; LED_ORANGE = 0;
/* Program */
while (1)
{
cmdHandleRadioRxBuffer();
radioProcess();
}
}
int main() {
// Processor Initialization
SetupClock();
SwitchClocks();
SetupPorts();
sclockSetup();
LED_1 = 1;
LED_2 = 1;
LED_3 = 1;
// Message Passing
fun_queue = carrayCreate(FUN_Q_LEN);
cmdSetup();
// Radio setup
radioInit(RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL);
radioSetSrcAddr(RADIO_SRC_ADDR);
radioSetSrcPanID(RADIO_PAN_ID);
uart_tx_packet = NULL;
uart_tx_flag = 0;
//uartInit(&cmdPushFunc);
tactileInit();
// Need delay for encoders to be ready
delay_ms(100);
amsEncoderSetup();
mpuSetup();
tiHSetup();
dfmemSetup();
telemSetup();
adcSetup();
pidSetup();
LED_1 = 0;
LED_3 = 1;
while(1){
// Send outgoing radio packets
radioProcess();
/*
// Send outgoing uart packets
if(uart_tx_flag) {
uartSendPacket(uart_tx_packet);
uart_tx_flag = 0;
}*/
checkTactileBuffer();
// move received packets to function queue
while (!radioRxQueueEmpty()) {
// Check for unprocessed packet
rx_packet = radioDequeueRxPacket();
if(rx_packet != NULL) {
cmdPushFunc(rx_packet);
}
}
// process commands from function queue
while(!carrayIsEmpty(fun_queue)) {
rx_packet = carrayPopHead(fun_queue);
unsigned int rx_src_addr = rx_packet->src_addr.val;
if(rx_packet != NULL) {
rx_payload = macGetPayload(rx_packet);
if(rx_payload != NULL) {
rx_function = (test_function)(rx_payload->test);
if(rx_function != NULL) {
LED_2 = ~LED_2;
(rx_function)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload), rx_src_addr);
}
}
ppoolReturnFullPacket(rx_packet);
}
}
}
return 0;
}
int main(void) {
//wakeTime = 0;
//dcCounter = 0;
// Processor Initialization
SetupClock();
SwitchClocks();
SetupPorts();
sclockSetup();
LED_1 = 0;
LED_2 = 0;
LED_3 = 0;
cmdSetup();
radioInit(RADIO_TXPQ_MAX_SIZE, RADIO_RXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL);
radioSetSrcPanID(RADIO_PAN_ID);
radioSetSrcAddr(RADIO_SRC_ADDR);
dfmemSetup();
uint64_t id = dfmemGetUnqiueID();
telemSetup(); //Timer 5, HW priority 4
mpuSetup();
imuSetup(); //Timer 4, HW priority 3
tiHSetup();
adcSetup();
//AMS Encoders
//encSetup();
//"Open Loop" vibration & jitter generator, AP 2014
//olVibeSetup();
legCtrlSetup(); //Timer 1, HW priority 5
steeringSetup(); //Timer 5, HW priority 4
//Tail control is a special case
//tailCtrlSetup();
//Camera is untested with current code base, AP 12/6/2012
//ovcamSetup();
LED_RED = 1; //Red is use an "alive" indicator
LED_GREEN = 0;
LED_YELLOW = 0;
//Radio startup verification
//if (phyGetState() == 0x16) {
// LED_GREEN = 1;
//}
//Sleeping and low power options
//_VREGS = 1;
//gyroSleep();
/////FUNCTION TEST, NOT FOR PRODUCTION
//olVibeStart();
////////////////////
while (1) {
cmdHandleRadioRxBuffer();
radioProcess();
}
}
