int main(int argc, char *argv[]) {
puts(MESSAGE);
inicjalizacja();
pthread_t threads[10];
for (int i = 0; i < 10; ++i) {
pthread_create(&threads[i], NULL, (i % 2)? pisarz : czytelnik, NULL);
}
for (int i = 0; i < 10; ++i) {
pthread_join(threads[i], NULL);
}
deinicjalizacja();
return 0;
}
int main(void)
{
//uint8_t i=0;
inicjalizacja();
_delay_ms(500);
spi_write(0x07, 0x80);
while (_RFM_NIRQ);
//while (!(0x02&spi_read(INTERRUPT_STATUS_2)));
//_delay_ms(200);
RF23B_init_parameter();
//while (_RFM_NIRQ);
while (!((1<<ICHIPRDY)&spi_read(INTERRUPT_STATUS_2)));
uint8_t temp8;
uint16_t temp16;
setup();
czasomierz=0;
sei();
_delay_ms(500);
_LED_Z;
to_ready_mode();
_delay_ms(100);
_LED_OFF;
_LED_C;
_delay_ms(100);
_LED_OFF;
_delay_ms(500);
uint8_t led_stan=0;
to_rx_mode();
while (1)
{
if (!_RFM_NIRQ)
{
if (led_stan)
{
_LED_Z;
led_stan=0;
}
else
{
_LED_OFF;
led_stan=1;
}
if(rxBufTab[0]==R_STOP)
{f.ARMED=0;
}else if (rxBufTab[0]==R_ARMUJ)
{
f.ARMED=1;
headFreeModeHold = heading;
}else if (rxBufTab[0]==R_SILNIKI)
{
temp16=0;
temp16|=rxBufTab[2];
temp16=temp16<<8;
temp8=rxBufTab[1];
temp16|=temp8;
rfmRcData[THROTTLE]=500;//temp16;
rfmRcData[ROLL]=500;
rfmRcData[PITCH]=500;
rfmRcData[YAW]=500;
}
to_rx_mode();
}
loop();
}
return 0;
}
