void Init(void)
{
/********************************************
* Init User Button
********************************************/
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; // OD but doesn't matter (input)
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // doesn't matter (input)
GPIO_Init(GPIOA, &GPIO_InitStructure);
/********************************************
* Init Hardware for states
********************************************/
initTrackLine();
initBluetooth();
/********************************************
* Init Motor output commands
********************************************/
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOD, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
}
void main(void)
{
initSysClock();
initUartDebug();
initLeds();
initLaunchpadSW1();
initSysTick();
initBluetooth();
initUSB();
initRfModule(false);
setRfTxAddress(RF_DESTINATION_ADDR);
Network_setSelfAddress(RF_CONTOLBOARD_ADDR);
while (true)
{
if ((g_bConnected == false) || (g_bSuspended == true))
{
GPIOPinWrite(LED_PORT_BASE, LED_ALL, LED_RED);
continue;
}
GPIOPinWrite(LED_PORT_BASE, LED_ALL, LED_GREEN);
if (g_USBRxState == USB_RX_DATA_AVAILABLE)
{
GPIOPinWrite(LED_PORT_BASE, LED_ALL, LED_BLUE);
switch (usbBufferHostToDevice[0])
{
//-----------------Bootloader Handle-------------------
case BOOTLOADER_BROADCAST_PACKET:
broadcastBslData();
break;
case BOOTLOADER_SCAN_JAMMING:
scanJammingSignal();
break;
default:
normalPacketHandle();
break;
}
g_USBRxState = USB_RX_IDLE;
turnOffLED(LED_BLUE);
}
}
}
int main(void)
{
initBluetooth();
while(1)
{
if(rcvMessageFlag)
{
//Respond to the message
sendBluetoothString("Message Received!\r\n");
rcvMessageFlag=0;
}
}
}
int main(int argc, char *argv[]) {
// Command line arguments
const char *optString = "p:b:n:c:h?";
const struct option longOpts[] = {
{ OPT_PORT_NAME, required_argument, NULL, 'p' },
{ OPT_BAUDRATE, required_argument, NULL, 'b' },
{ OPT_BT_NAME, required_argument, NULL, 'n' },
{ OPT_BT_PIN, required_argument, NULL, 'c' },
{ OPT_HELP, no_argument, NULL, 'h' },
{ NULL, no_argument, NULL, 0 }
};
// Port properties
int nBaudrate = 0;
const char *portName = NULL;
// BT properties
const char *btName = NULL;
const char *btPin = NULL;
int opt, longIndex;
while ((opt = getopt_long( argc, argv, optString, longOpts, &longIndex)) != -1) {
switch(opt) {
case 'p':
portName = optarg;
break;
case 'b':
nBaudrate = atoi(optarg);
break;
case 'n':
btName = optarg;
break;
case 'c':
btPin = optarg;
break;
case 'h':
usage();
exit(0);
break;
// Case for long names
case 0:
if (strcmp(OPT_PORT_NAME, longOpts[longIndex].name) == 0) {
portName = optarg;
} else if (strcmp(OPT_BAUDRATE, longOpts[longIndex].name) == 0) {
nBaudrate = atoi(optarg);
} else if (strcmp(OPT_BT_NAME, longOpts[longIndex].name) == 0) {
btName = optarg;
} else if (strcmp(OPT_BT_PIN, longOpts[longIndex].name) == 0) {
btPin = optarg;
} else if (strcmp(OPT_HELP, longOpts[longIndex].name) == 0) {
usage();
exit(0);
}
break;
default:
usage();
exit(0);
break;
}
}
if (portName == NULL) {
portName = DEFAULT_PORT_NAME;
LOGW("Port name not defined and will be used default \"%s\"", portName);
}
if (nBaudrate == 0) {
nBaudrate = DEFAULT_BAUDRATE;
LOGW("Baudrate not defined and will be used default \"%d\"", nBaudrate);
}
if (btName == NULL) {
btName = DEFAULT_BT_NAME;
LOGW("Bluetooth name not defined and will be used default \"%s\"", btName);
}
if (btPin == NULL || strlen(btPin) > DEFAULT_BT_PIN_MAX) {
if (btPin == NULL) {
LOGW("Bluetooth pin code not defined and will be used default \"%s\"", DEFAULT_BT_PIN);
} else {
LOGW("Bluetooth pin code too long (%lu), than should be (%d) and will be used default \"%s\"",
strlen(btPin), DEFAULT_BT_PIN_MAX, btPin);
}
btPin = DEFAULT_BT_PIN;
}
LOGV("Port name = %s", portName);
LOGV("Baudrate = %d", nBaudrate);
LOGV("Bluetooth name = %s", btName);
LOGV("Bluetooth pin code = %s", btPin);
struct sserial_props *pProps = OpenPort(portName, nBaudrate);
if (pProps == NULL) {
LOGE("Port init failed");
return 1;
}
if (!initBluetooth(pProps, btName, btPin)) {
LOGE("[%s] Bluetooth init failed", __func__);
goto exit;
}
char ch='\0';
// print all until "a" will be be recieved
while (ch!='a') {
int bDisconnected = GetCts(pProps);
// It will be true until someone connected
if (bDisconnected != 0) {
continue;
}
// skip empty and line endings
if (ReadPort(pProps, &ch, 1) <= 0 ||
ch == '\r' || ch == '\n')
continue;
LOGV(">> %c", ch);
}
exit:
ClosePort(pProps);
return 0;
}
void hardwareInit() {
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig((80000000L), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
SYSTEMConfigPerformance(80000000);
CHECONbits.PREFEN = 0;
int j = 0, i = 0;
for (i = 0; i < 6; i++) {
MyMAC.v[i] = MY_MAC_ADDRESS[i];
}
StartCritical();
println_I("MAC");
enableFlashStorage(true);
FlashGetMac(MyMAC.v);
for (i = 0; i < 6; i++) {
macStr[j++] = GetHighNib(MyMAC.v[i]);
macStr[j++] = GetLowNib(MyMAC.v[i]);
}
macStr[12] = 0;
//println_I("MAC address is =");
print_I(macStr);
Pic32_Bowler_HAL_Init();
usb_CDC_Serial_Init(dev, macStr, 0x04D8, 0x3742);
InitLEDS();
SetColor(0, 0, 1);
mInitSwitch();
//AVR Reset pin
InitAVR_RST();
HoldAVRReset();
//AVR must be running before pin states can be synced in the pin initialization
ReleaseAVRReset();
//Starts co-proc uart
initCoProcCom();
InitPinFunction();
//Must initialize IO before hardware
LoadDefaultValues();
//println_W("Pin States");
SyncModes();
//println_I("Modes synced, initializing channels");
initAdvancedAsync();
//println_I("Adding IO Namespace");
addNamespaceToList( get_bcsIoNamespace());
//println_I("Adding IO.Setmode Namespace");
addNamespaceToList(get_bcsIoSetmodeNamespace());
//println_I("Adding DyIO Namespace");
addNamespaceToList(get_neuronRoboticsDyIONamespace());
//println_I("Adding PID Namespace");
addNamespaceToList( getBcsPidNamespace());
//println_I("Adding DyIO PID Namespace");
addNamespaceToList( get_bcsPidDypidNamespace());
//println_I("Adding Safe Namespace");
addNamespaceToList((NAMESPACE_LIST *) get_bcsSafeNamespace());
Init_FLAG_BUSY_ASYNC();
//InitCTS_RTS_HO();
//ConfigUARTOpenCollector();
ConfigUARTRXTristate();
//Starts Timer 3
InitCounterPins();
InitADC();
//SetFwRev(rev);
GetName(Name);
if(Name[0]==0xff){
for(i=0;i<17;i++){
Name[i]=defaultName[i] ;
}
SetName(Name);
GetName(Name);
}
if (!GetLockCode(LockCode)){
for(i=0;i<4;i++){
LockCode[i] = defaultlock[i];
}
SetLockCode(LockCode);
}
EndCritical();
initBluetooth();
if(!hasBluetooth()){
Pic32UARTSetBaud( 115200 );
}
boolean defaultmac=true;
for (i = 0; (i < 6) && defaultmac; i++) {
if(MyMAC.v[i] != MY_MAC_ADDRESS[i]){
defaultmac = false;
}
}
if(defaultmac){
srand((unsigned) GetRawVoltage());// random seed from the air
MyMAC.v[3] = MINOR_REV;
MyMAC.v[4] = FIRMWARE_VERSION;
MyMAC.v[5] = rand() % 255;
FlashSetMac(MyMAC.v);
U1CON = 0x0000;
DelayMs(100);
Reset();
}
}
