void setup()
{
setupSystemClock();
setup_system_tick(SYSTEM_TICK_FREQ);
setupUART();
#ifdef GPS
setupGPS();
#endif
I2C_Init();
FlashInit();
UpdateBoardVersion(false);
#ifdef OPTION_RC
RC_Init();
if(IsSSVConnected())
Battery_Init();
LED_Init();
TIMER_Init();
stabilizerInit();
#endif
#ifdef ABROBOT
ABRobotMotorInit();
#endif
nvtAHRSInit();
SensorsInit();
ChronographSet(ChronMain);
}
// Function called in void setup() that instantiates all the variables, attaches pins, ect
// This funciton needs to be called before anything else will work
void Communicator::initialize() {
pinMode(TX_TO_DISCONNECT, INPUT); // Ensure it's in high impedance state
pinMode(RX_TO_DISCONNECT, INPUT); // Ensure it's in high impedance state
#ifdef DEBUG_COMMUNICATOR
SerialUSB.begin(SERIAL_USB_BAUD); // This is to computer
DEBUG_PRINTLN("at start of comm initialize");
#endif
// Set initial values to 0
altitude = 0;
//roll = 0; pitch = 0;
altitudeAtDrop = 0;
// Start without hardware attached
dropBayAttached = 0;
// Initialize serial commuication to Xbee.
XBEE_SERIAL.begin(XBEE_BAUD); //this is to Xbee
//Setup the GPS
setupGPS();
}
void S4GPS::Configure()
{
setupGPS(remVTG,26);
setupGPS(remRMC,26);
setupGPS(remGSV,26);
setupGPS(remGSA,26);
setupGPS(remGLL,26);
setupGPS(setNAV,44);
setupGPS(setNAV2,56);
setupGPS(setNAV5,52);
}
int main(void)
{
// Initialise the GPIO block
gpioInit();
#ifdef GPS
// Initialise the UART0 block for printf output
uart0Init(9600);
#else
// Initialise the UART0 block for printf output
uart0Init(115200);
#endif
// Configure the multi-rate timer for 1ms ticks
mrtInit(__SYSTEM_CLOCK/1000);
// Configure the switch matrix (setup pins for UART0 and SPI)
configurePins();
//Seed random number generator, we can use our 'unique' ID
random_output = NODE_ID[0] + NODE_ID[1] + NODE_ID[2];
//printf("random: %d\r\n", random_output);
RFM69_init();
#ifdef GPS
int navmode = 9;
setupGPS();
#endif
#ifdef DEBUG
printf("Node initialized, version %s\r\n",GIT_VER);
#endif
while(1) {
#ifdef GPS
mrtDelay(5000);
navmode = gps_check_nav();
if (navmode != 6){
setupGPS();
}
mrtDelay(500);
gps_get_position();
mrtDelay(500);
gps_check_lock();
mrtDelay(500);
//printf("Data: %d,%d,%d,%d,%d,%d\r\n", lat, lon, alt, navmode, lock, sats);
//printf("Errors: %d,%d\r\n", GPSerror, serialBuffer_write);
#endif
incrementPacketCount();
//Clear buffer
data_temp[0] = '\0';
uint8_t n;
//Create the packet
int int_temp = RFM69_readTemp(); // Read transmitter temperature
rx_rssi = RFM69_lastRssi();
floor_rssi = RFM69_sampleRssi();
#ifdef GPS
n = sprintf(data_temp, "%d%cL%d,%d,%dT%dR%d[%s]", NUM_REPEATS, data_count, lat, lon, alt, int_temp, rx_rssi, NODE_ID);
#else
if(data_count == 97) {
n = sprintf(data_temp, "%d%cL%s[%s]", NUM_REPEATS, data_count, LOCATION_STRING, NODE_ID);
} else {
n = sprintf(data_temp, "%d%cT%dR%d,%dC%d[%s]", NUM_REPEATS, data_count, int_temp, rx_rssi, floor_rssi, rx_packets, NODE_ID);
}
#endif
transmitData(n);
awaitData(TX_GAP);
}
}
