/*************************************************************************
Function: init_wyvern()
Purpose: Runs all initialization functions
Enables interrupts
Input: None
Returns: None
**************************************************************************/
void init_wyvern(void){
// Setup Wyvern Systems
init_uc(); //UC
init_uart(); // Serial Communication
//init_pwm(); // Motor PWM Control
init_adc(); // ADC
// Setup Wyvern RF
RFsetup(local,max(sizeof(packet_com_t),sizeof(packet_inf_t)));
set(PCICR,PCIE0); // enable pin-change interrupts
PCMSK0 =0x00;
set(PCMSK0, PCINT4); // demask PCINT4
//clear(TCCR0B,CS02);
//set(TCCR0B,CS01);
//clear(TCCR0B,CS00); // Timer0 Clock = System Clock/1024
//set(TIMSK0,TOIE0); // Enable Timer0 Overflow Interrupt
// Enable Global Interrupts
sei();
// Force RF Interrupt (Pin Change Interrupt Channel 4) to run once
clear(PORTB,4);
if(RFRXdataReady()){
RFreceive((char*) &incoming);
}
incoming.battery = 150;
}
int main ( )
{
init_uc ( );
sei ( );
while ( 1 ) {
eval_event_flags ( );
}
return 0;
}
