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;
WordVal src_addr_init = {RADIO_SRC_ADDR};
WordVal src_pan_id_init = {RADIO_SRC_PAN_ID};
WordVal dst_addr_init = {RADIO_DST_ADDR};
SetupClock();
SwitchClocks();
SetupPorts();
tiHSetup();
//swatchSetup();
radioInit(src_addr_init, src_pan_id_init, RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL); //Set to my channel
macSetDestAddr(dst_addr_init);
cmdSetup();
if(phyGetState() == 0x16) { LED_RED = 1; }
while(1){
cmdHandleRadioRxBuffer();
}
LED_GREEN = 0;
LED_RED = 1;
LED_YELLOW = 1;
_LATG9 = 1;
_LATC15 = 1;
//testRadio();
/*
LED_GREEN = 1;
mpuSetup();
LED_GREEN = 0;
LED_RED = 1;
LED_YELLOW = 1;
//batSetup();
//int old_ipl;
//mSET_AND_SAVE_CPU_IP(old_ipl, 1)
//LED_YELLOW = 1;
//dfmemSetup();
//xlSetup();
//gyroSetup();
//tiHSetup();
//mcSetup();
//cmdSetup();
//adcSetup();
//telemSetup(); //Timer 5
//mcSetDutyCycle(1,70.0);
//mcSetDutyCycle(2,70.0);
//mcSetDutyCycle(3,70.0);
//mcSetDutyCycle(4,70.0);
#ifdef HALL_SENSORS
//hallSetup(); // Timer 1, Timer 2
//hallSteeringSetup(); //doesn't exist yet
#else //No hall sensors, standard BEMF control
//legCtrlSetup(); // Timer 1
//steeringSetup(); //Timer 5
#endif
//tailCtrlSetup();
//ovcamSetup();
/*
//radioReadTrxId(id);
LED_RED = 1; //Red is use an "alive" indicator
LED_GREEN = 0;
LED_YELLOW = 0;
//tiHSetFloat(1,50.0);
//tiHSetFloat(2,75.0);
//tiHSetup();
//LED_GREEN = 1;
//tiHSetFloat(1,.800);
//LED_YELLOW = 1;
//Radio startup verification
//if(phyGetState() == 0x16) { LED_GREEN = 1; }
//Sleeping and low power options
//_VREGS = 1;
//gyroSleep();
//tiHSetFloat(1,98.0);
//tiHSetFloat(2,30.0);
//tiHSetFloat(3,99.0);
//tiHSetFloat(4,99.0);
LED_GREEN = 0;
LED_RED = 0;
LED_YELLOW = 1;
int i = 0;
while (1)
{
delay_ms(2000);
int i = i+1;
LED_GREEN = i%2;
// cmdHandleRadioRxBuffer();
#ifndef __DEBUG //Idle will not work with debug
//Simple idle:
if (radioIsRxQueueEmpty()) {
Idle();
//_T1IE = 0;
}
#endif
//delay_ms(1000);
//cmdEcho(0, 1 , (unsigned char*)(&i) );
//i++;
//if(radioIsRxQueueEmpty() && (t1_ticks >= wakeTime + 5000) ){
//Idle();
//LED_RED = 0;
//gyroSleep();
//Sleep();
//}
}
/*
if(g_radio_duty_cycle){
if(dcCounter == 0){
//LED_GREEN = 1;
atSetRXAACKON();
}else{
//LED_GREEN = 0;
atSetTRXOFF();
}
}
else{
//LED_GREEN = 1;
}
dcCounter = (dcCounter + 1) % 8;
if(radioIsRxQueueEmpty() && !inMotion){
//gyroSleep();
LED_RED = 0;
_SWDTEN = 1; //restart wdt
Sleep();
//Idle();
}
//should be asleep here, waiting for WTD wakeup
ClrWdt(); //clear wdt
_SWDTEN = 0; //software disable wdt
LED_RED = 1;
//spin up clock
if(_COSC != 0b010){
while(OSCCONbits.LOCK!=1);
}
//gyroWake();
}
}
void testRadio(void)
{
//designed to be used with testRadio.py.
//test radio.py should produce many echoes that cycle through the ASCII characters
//comment out all code in main and use test Radio to test the radio only.
//This code does not initialize non-radio-nessisary components.
wakeTime = 0;
dcCounter = 0;
WordVal src_addr_init = {RADIO_SRC_ADDR};
WordVal src_pan_id_init = {RADIO_SRC_PAN_ID};
WordVal dst_addr_init = {RADIO_DST_ADDR};
SetupClock();
SwitchClocks();
SetupPorts();
int old_ipl;
mSET_AND_SAVE_CPU_IP(old_ipl, 1)
swatchSetup();
radioInit(src_addr_init, src_pan_id_init, RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL); //Set to my channel
macSetDestAddr(dst_addr_init);
cmdSetup();
LED_GREEN = ON;
int i = 0;
while (1) {
i++;
cmdHandleRadioRxBuffer();
}
LED_RED = OFF;
}*/
}
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();
}
}