int main(int argc, char **argv)
{
int c_sock;/*client socket*/
int rc;
char buf[BUFFER_SIZE];
motor_opts_t motor;
agv2Buffer(argv, argc, buf);
/*Decode argv and init connection to server*/
rc = start_app(buf, BUFFER_SIZE, &c_sock);
if(rc < 0)
{
perror("client: Failed to start c-app");
return -1;
}
else
printf("c-app: client app start-up complete\n");
/*Prepare bt_packets to send with data from app_options_t
* For now prepare only motor opts*/
comm_handler(c_sock);
return 0;
}
/*### Mainloop ###*/
int main(void)
{
WDT_TRIGGERED(); //Watchdogreset?
init_sys();
init_pwm();
init_timer();
dist_init();
uart_init(UART_BAUD_SELECT(UART_MCU_BAUD_RATE,F_CPU)); //Bluetooth
comm_init();
init_adc();
mot.off = 0;
//The higher the task_i of the task is, the higher is the priority
MAIN_LED_OFF();
tasks[TASK_TIMER_ID].state = -1;
tasks[TASK_TIMER_ID].period = TASK_PERIOD_TIMER;
tasks[TASK_TIMER_ID].elapsedTime = 0;
tasks[TASK_TIMER_ID].running = 0;
tasks[TASK_TIMER_ID].task_fct = &task_timer;
tasks[TASK_SPEEDREG_ID].state = -1;
tasks[TASK_SPEEDREG_ID].period = TASK_PERIOD_SPEEDREG;
tasks[TASK_SPEEDREG_ID].elapsedTime = 0;
tasks[TASK_SPEEDREG_ID].running = 0;
tasks[TASK_SPEEDREG_ID].task_fct = &task_speedreg;
tasks[TASK_ANASENS_ID].state = -1;
tasks[TASK_ANASENS_ID].period = TASK_PERIOD_ANASENS;
tasks[TASK_ANASENS_ID].elapsedTime = 0;
tasks[TASK_ANASENS_ID].running = 0;
tasks[TASK_ANASENS_ID].task_fct = &task_anasens;
if(get_incrOk())
debug = 1;
else
debug = 0;
sei(); //Enable global interrupts. The Operating System and every task in it is running now and the cam already can regulate its initial aparture
bt_putStr_P(PSTR("\r\n\n\n\n\n\n\n\n"));
bt_putStr_P(PSTR("–––––––––––––––––––––––\r\n"));
bt_putStr_P(PSTR("| RIOS Scheduler v1.0 |\r\n"));
bt_putStr_P(PSTR("–––––––––––––––––––––––\r\n"));
bt_putStr_P(PSTR("rcj2015 v2.0\r\n"));
bt_putStr_P(PSTR("Subcontroller ATmega2560\r\n"));
bt_putStr_P(PSTR("Baud rate: "));bt_putLong(UART_COMM_BAUD_RATE); bt_putStr_P(PSTR(" Baud.\r\n"));
bt_putStr_P(PSTR("\r\n")); bt_putLong(timer); bt_putStr_P(PSTR(": System initialized, ")); bt_putLong(TASKS_NUM); bt_putStr_P(PSTR(" running tasks.\n\n"));
if(check_res)
{
motor_activate(0); //Shut down motor driver
if(debug > 0){bt_putStr_P(PSTR("\r\n")); bt_putLong(timer); bt_putStr(PSTR(": WARNING: RECOVERED AFTER AN UNEXPECTED SHUTDOWN!!!\n\n"));}
_delay_ms(5000);
}
wdt_enable(WDTO_1S); //activate watchdog
timer_get_tast = 120;
while(1)
{
wdt_reset();
////////////////////////////////////////////////////////////////////////////
comm_handler(); //Handle and respond to comm requests.
comm_reg_gateway();
////////////////////////////////////////////////////////////////////////////
if((timer_get_tast == 0) && (setup == 0))
{
timer_get_tast = -1;
mot.off = 0;
}
if(get_t1()) //Always reset...
{
mot.off = 1;
timer_get_tast = 120;
}
////////////////////LED etc...//////////////////////////////////////
if(timer_mainloop == 0)
{
if(check_res || fatal_err) //Flashing of the Info LED when there is an error
led_fault = 1;
else if(timer_nocomm == 0)
led_fault = 85; //Blink green if no communication/waiting for command
else if(mot.off)
led_fault = 30;
else
led_fault = 0;
if(fatal_err)
led_top = LED_TOP_FAT_ERR;
else
led_top = LED_TOP_NORMAL;
if(check_res)
{
if(!(debug_err_sendOneTime & (1<<0)))
{
if(debug > 1){bt_putStr_P(PSTR("\n\r")); bt_putLong(timer); bt_putStr_P(PSTR(": ERROR: RESET"));}
debug_err_sendOneTime |= (1<<0);
}
}
else debug_err_sendOneTime &= ~(1<<0);
//Batterie/Akku
if(batt_raw > 0)
{
batt_mV = (batt_raw*15)-300;
if(batt_mV < batt_mV_old)
{
batt_mV_old = batt_mV;
batt_percent = (0.037*batt_mV) - 363;
}
if(batt_percent < 20) //Batterie
led_heartbeatColor = batt_percent;
}
////////////////////////////////////////////////////////////////////////////
//LED heartbeat
if(rgb_led_mode == 0)
led_rgb(led_heartbeatColor, led_fault, led_top);
else
led_hsvToRgb(rgb_led_hue, rgb_led_sat, rgb_led_val);
timer_mainloop = TIMER_MAINLOOP;
}
}
return 0;
}
