void main(void){
//==============================================================================
// Main Program
//
// Description: This function contains the while loop that runs continuously
// to act for the operating system. It also calls all the functions to
// initialize the system.
//
// Passed : no variables passed
// Locals: no variables declared
// Returned: no values returned
// Globals: volatile unsigned int Time_Sequence;
// volatile char one_time;
// char* display_1
// char* display_2
// char* display_3
// char* display_4
// slow_input_down
// control_state[CNTL_STATE_INDEX]
// char big
// char size_count;
// char posL1
// char posL2
// char posL3
// char posL4
//
// Author: David Pryor
// Date: Feb 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Time_Sequence = SWITCH_OFF; //
Init_Timers(); // Initialize Timers
Init_LEDs(); // Initialize LEDs
Init_LCD(); // Initialize LCD
Init_ADC(); // Initialize ADC
Init_Serial_UCA1(0); // BAUD rate 9600
Init_Serial_UCA0(1); // BAUD rate 9600
Five_msec_Delay(1);
PJOUT |= IOT_STA_MINIAP; //turning on miniap (only works this way)
IR_LED_OFF();
lcd_BIG_mid();
display_1 = " David ";
display_2 = "Project 8";
display_3 = " Pryor ";
display_4 = "";
Display_Process();
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
ADC_Process(); // call sampling function
if(MainFG){
Menu_Process();
}
else if(BaudMenuFG==TRUE){
Baud_Menu();
}
else if(IOTMenuFG==TRUE){
IOT_Menu();
}
if(StartCommandFG){ //StartCommandFG is true once "." has been received
commandTree();
}
printMacAddress(); //prints mac address to screen
macFG=FALSE; //turn off command to print mac address
clearReceiveBuffer();
parseIOTData();
}
//------------------------------------------------------------------------------
}
void receive_command(char* command)
{
BufferString temp_command;
temp_command.head = command;
temp_command.offset = START_ZERO;
if(compare(command, COMMAND_AKNOWLEDGE))
{
uca0_transmit_message(AKNOWLEDGE_MESSAGE, NO_OFFSET);
}
else if(compare(command, SLOW_BAUD))
{
uca1_set_current_baud(BAUD_115200);
uca0_transmit_message(SLOW_BAUD_MESSAGE, NO_OFFSET);
uca1_transmit_message(SLOW_BAUD_COMMAND, NO_OFFSET);
five_msec_delay(SECOND + SECOND);
uca1_transmit_message(SAVE_COMMAND, NO_OFFSET);
five_msec_delay(SECOND);
uca1_set_current_baud(BAUD_9600);
uca1_transmit_message(RESET_COMMAND, NO_OFFSET);
PJOUT &= ~IOT_RESET;
five_msec_delay(QUARTER_SECOND);
PJOUT |= IOT_RESET;
uca0_transmit_message(RESET_MESSAGE, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(G_MAC_COMMAND, NO_OFFSET);
}
else if(compare(command, FAST_BAUD))
{
uca1_set_current_baud(BAUD_9600);
uca0_transmit_message(FAST_BAUD_MESSAGE, NO_OFFSET);
uca1_transmit_message(FAST_BAUD_COMMAND, NO_OFFSET);
five_msec_delay(SECOND + SECOND);
uca1_transmit_message(SAVE_COMMAND, NO_OFFSET);
five_msec_delay(SECOND);
uca1_set_current_baud(BAUD_115200);
uca1_transmit_message(RESET_COMMAND, NO_OFFSET);
PJOUT &= ~IOT_RESET;
five_msec_delay(QUARTER_SECOND);
PJOUT |= IOT_RESET;
uca0_transmit_message(RESET_MESSAGE, NO_OFFSET);
}
else if(compare(command, CONNECT_NCSU))
{
uca0_transmit_message(CONNECT_NCSU_MESSAGE, NO_OFFSET);
uca1_transmit_message(SET_SSID_NCSU_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_SSID_NCSU_COMMAND, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(SET_HOST_NAME_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_HOST_NAME_COMMAND, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(SET_PRIVACY_MODE_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_PRIVACY_MODE_COMMAND, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(SET_NETWORK_MODE_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_NETWORK_MODE_COMMAND, NO_OFFSET);
uca1_transmit_message(SAVE_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_NETWORK_MODE_COMMAND, NO_OFFSET);
uca1_transmit_message(SAVE_COMMAND, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(RESET_COMMAND, NO_OFFSET);
PJOUT &= ~IOT_RESET;
five_msec_delay(QUARTER_SECOND);
PJOUT |= IOT_RESET;
uca0_transmit_message(RESET_MESSAGE, NO_OFFSET);
}
else if(compare(command, GET_WIFI_STATUS))
{
uca1_transmit_message(GET_WIFI_STATUS_COMMAND, NO_OFFSET);
}
else if(compare(command, GET_WIFI_IP))
{
uca1_transmit_message(GET_WIFI_IP_COMMAND, NO_OFFSET);
}
// Forward Command
else if(find(CAR_FORWARD, temp_command))
{
display_1 = CLEAR_LINE;
display_2 = command;
display_3 = CLEAR_LINE;
display_4 = CLEAR_LINE;
set_motor_speed(R_FORWARD, (int) (MAX_SPEED * 0.87f));
set_motor_speed(L_FORWARD, MAX_SPEED);
lcd_BIG_mid();
five_msec_delay(QUARTER_SECOND);
Display_Process();
uca0_transmit_message("SUCCESS", NO_OFFSET);
turn_on_motor(R_FORWARD);
turn_on_motor(L_FORWARD);
if(CH_TO_DIG(command[COMMAND_TIME_POS]) <= 9)
five_msec_delay(SECOND * CH_TO_DIG(command[COMMAND_TIME_POS]) / COMMAND_TURN_RATIO);
turn_off_motor(R_FORWARD);
turn_off_motor(L_FORWARD);
lcd_4line();
if(command[COMMAND_LENGTH] == COMMAND_CHAR_SYMBOL)
receive_command(command + COMMAND_LENGTH);
}
// Backward Command
else if(find(CAR_BACKWARD, temp_command))
{
display_1 = CLEAR_LINE;
display_2 = command;
display_3 = CLEAR_LINE;
display_4 = CLEAR_LINE;
lcd_BIG_mid();
five_msec_delay(QUARTER_SECOND);
Display_Process();
uca0_transmit_message("SUCCESS", NO_OFFSET);
turn_on_motor(R_REVERSE);
turn_on_motor(L_REVERSE);
five_msec_delay(SECOND * CH_TO_DIG(command[COMMAND_TIME_POS]));
turn_off_motor(R_REVERSE);
turn_off_motor(L_REVERSE);
lcd_4line();
if(command[COMMAND_LENGTH] == COMMAND_CHAR_SYMBOL)
receive_command(command + COMMAND_LENGTH);
}
// Right Command
else if(find(CAR_RIGHT, temp_command))
{
display_1 = CLEAR_LINE;
display_2 = command;
display_3 = CLEAR_LINE;
display_4 = CLEAR_LINE;
lcd_BIG_mid();
five_msec_delay(QUARTER_SECOND);
Display_Process();
uca0_transmit_message("SUCCESS", NO_OFFSET);
turn_on_motor(R_REVERSE);
turn_on_motor(L_FORWARD);
if(CH_TO_DIG(command[COMMAND_TIME_POS]) <= 9)
five_msec_delay(SECOND * CH_TO_DIG(command[COMMAND_TIME_POS]) / COMMAND_TURN_RATIO);
turn_off_motor(R_REVERSE);
turn_off_motor(L_FORWARD);
lcd_4line();
if(command[COMMAND_LENGTH] == COMMAND_CHAR_SYMBOL)
receive_command(command + COMMAND_LENGTH);
}
// Left Command
else if(find(CAR_LEFT, temp_command))
{
display_1 = CLEAR_LINE;
display_2 = command;
display_3 = CLEAR_LINE;
display_4 = CLEAR_LINE;
lcd_BIG_mid();
five_msec_delay(QUARTER_SECOND);
Display_Process();
uca0_transmit_message("SUCCESS", NO_OFFSET);
turn_on_motor(R_FORWARD);
turn_on_motor(L_REVERSE);
if(CH_TO_DIG(command[COMMAND_TIME_POS]) <= 9)
five_msec_delay(SECOND * CH_TO_DIG(command[COMMAND_TIME_POS]) / COMMAND_TURN_RATIO);
turn_off_motor(R_FORWARD);
turn_off_motor(L_REVERSE);
lcd_4line();
if(command[COMMAND_LENGTH] == COMMAND_CHAR_SYMBOL)
receive_command(command + COMMAND_LENGTH);
}
else if(find(CAR_LINE_FOLLOW, temp_command))
{
is_follow_running = is_follow_running ? FALSE : TRUE;
}
}
