int test(void)
{
int i;
rgbled_init();
while(1)
{
for(i=0; i<100000; i++);
rgbled_turnOn(RGBLED_R);
for(i=0; i<100000; i++);
rgbled_turnOn(RGBLED_G);
for(i=0; i<100000; i++);
rgbled_turnOn(RGBLED_B);
for(i=0; i<100000; i++);
rgbled_turnOff(RGBLED_R);
for(i=0; i<100000; i++);
rgbled_turnOff(RGBLED_G);
for(i=0; i<100000; i++);
rgbled_turnOff(RGBLED_B);
}
}
int main(void)
{
#ifdef WITH_SHELL
/* initialize message queue */
msg_init_queue(_main_msg_q, Q_SZ);
#endif
eui64_t iid;
netopt_enable_t acks = NETOPT_DISABLE;
kernel_pid_t ifs[GNRC_NETIF_NUMOF];
gnrc_netif_get(ifs);
gnrc_netapi_set(ifs[0], NETOPT_AUTOACK, 0, &acks, sizeof(acks));
ipv6_addr_from_str(&dst_addr, "2001:affe:1234::1");
// ipv6_addr_from_str(&dst_addr, "fd38:3734:ad48:0:211d:50ce:a189:7cc4");
/* initialize senml payload */
gnrc_netapi_get(ifs[0], NETOPT_IPV6_IID, 0, &iid, sizeof(eui64_t));
initial_pos = sprintf(&p_buf[initial_pos], "[{\"bn\":\"urn:dev:mac:");
initial_pos += sprintf(&p_buf[initial_pos], "%02x%02x%02x%02x%02x%02x%02x%02x",
iid.uint8[0], iid.uint8[1], iid.uint8[2], iid.uint8[3],
iid.uint8[4], iid.uint8[5], iid.uint8[6], iid.uint8[7]);
initial_pos += sprintf(&p_buf[initial_pos], "\"},");
rgbled_init(&led, PWM_1, 2, 0, 1);
thread_create(coap_stack, sizeof(coap_stack), PRIO - 1, THREAD_CREATE_STACKTEST, microcoap_server,
NULL, "coap");
#ifdef WITH_SHELL
thread_create(beac_stack, sizeof(beac_stack), PRIO, THREAD_CREATE_STACKTEST, beaconing,
NULL, "beaconing");
char line_buf[SHELL_DEFAULT_BUFSIZE];
shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
#else
beaconing(NULL);
#endif
return 0;
}
int main() {
board_init();
uart_init();
esc_init();
rgbled_init();
rgbled_set(0xFF8000, 100);
spektrum_init();
rgbled_set(0xFF8000, 100);
xbee_init();
i2c_init();
alt_init();
mag_init();
mpu_init();
sonar_init();
ins_init();
inscomp_init();
altitude_init();
controller_init();
basestation_init();
flight_init();
controlpanel_run();
}
void led_thread(void)
{
msg_t msg;
int ret;
color_hsv_t hsv_0;
color_hsv_t hsv_1;
color_rgb_t rgb;
float step_h = 1.0f;
float step_s = 0.02f;
float step_v = 0.02f;
int step = 0;
int state = 1;
int limit = 1;
color_rgb_t *sequ = cd_sequ;
rgbled_t led;
/* initialize RGB-LED */
rgbled_init(&led, PWM_0, 0, 1, 2);
while (1) {
/* see if something has come up */
if (state == limit) {
notify_done();
++state;
}
if (state >= limit) {
ret = msg_receive(&msg);
} else {
ret = msg_try_receive(&msg);
}
/* if message was receive, act on it */
if (ret == 1) {
printf("led: got message %i\n", msg.type);
if (msg.type != last_cmd) {
switch (msg.type) {
case MSG_GAME_START:
puts("led: starting game");
sequ = cd_sequ;
state = 1;
limit = GAME_LED_COUNTDOWN_LEN;
last_cmd = msg.type;
break;
case MSG_GAME_SCORE:
printf("led: displaying score: %i\n", (unsigned int)msg.content.value);
if (PLAYER == msg.content.value) {
puts("led: WIN sequence");
sequ = win_sequ;
limit = GAME_LED_WIN_LEN;
}
else if (msg.content.value == GAME_STATE_DRAW) {
puts("led: DRAW sequence");
sequ = draw_sequ;
limit = GAME_LED_DRAW_LEN;
}
else {
puts("led: LOSE sequence");
sequ = lose_sequ;
limit = GAME_LED_LOSE_LEN;
}
state = 1;
last_cmd = msg.type;
break;
}
}
}
if (state < limit) {
/* update color */
if (step == 0) {
printf("led: setting color fr 0x%02x 0x%02x 0x%02x\n",
sequ[state - 1].r, sequ[state - 1].g, sequ[state - 1].b);
printf("led: setting color to 0x%02x 0x%02x 0x%02x\n",
sequ[state].r, sequ[state].g, sequ[state].b);
color_rgb2hsv(&sequ[state - 1], &hsv_0);
color_rgb2hsv(&sequ[state ], &hsv_1);
step_h = (hsv_0.h - hsv_1.h) / STEPS;
step_s = (hsv_0.s - hsv_1.s) / STEPS;
step_v = (hsv_0.v - hsv_1.v) / STEPS;
printf("led: steps are h+= %i s+= %i v+= %i\n", (int)(step_h * 100),(int)(step_s * 100),
(int)(step_v * 100));
}
/* set color */
color_hsv2rgb(&hsv_0, &rgb);
rgbled_set(&led, &rgb);
++step;
hsv_0.h += step_h;
hsv_0.s += step_s;
hsv_0.v += step_v;
/* check if transition is finished */
if (step == STEPS) {
step = 0;
++state;
}
}
/* wait for next step */
vtimer_usleep(PAUSE);
}
}
