void BUtl_SetReceiverOff(void)
{
/* This function is called by the NVM component at the start of the NV operation */
mlmeMessage_t msg;
bool_t value;
/* get the receiver state */
msg.msgType = gMlmeGetReq_c;
msg.msgData.getReq.pibAttribute = gMPibRxOnWhenIdle_c;
msg.msgData.getReq.pibAttributeValue = &value;
(void)MSG_Send(NWK_MLME, &msg);
if(value)
{
/* Turn off the receiver during NVM operation */
receiverOn = TRUE;
value = FALSE;
msg.msgType = gMlmeSetReq_c;
msg.msgData.setReq.pibAttribute = gMPibRxOnWhenIdle_c;
msg.msgData.setReq.pibAttributeValue = &value;
(void)MSG_Send(NWK_MLME, &msg);
}
else
{
/* Receiver already turned off */
receiverOn = FALSE;
}
}
void BUtl_SetReceiverOn(void)
{
/* This function is called by the NVM component at the end of the NV operation */
mlmeMessage_t msg;
bool_t value = TRUE;
if(receiverOn == TRUE)
{
/* Restore receiver state */
msg.msgType = gMlmeSetReq_c;
msg.msgData.setReq.pibAttribute = gMPibRxOnWhenIdle_c;
msg.msgData.setReq.pibAttributeValue = &value;
(void)MSG_Send(NWK_MLME, &msg);
}
}
/******************************************************************************
* The App_StartScan(scanType) function will start the scan process of the
* specified type in the MAC. This is accomplished by allocating a MAC message,
* which is then assigned the desired scan parameters and sent to the MLME
* service access point.
* The function may return either of the following values:
* errorNoError: The Scan message was sent successfully.
* errorInvalidParameter: The MLME service access point rejected the
* message due to an invalid parameter.
* errorAllocFailed: A message buffer could not be allocated.
*
******************************************************************************/
static uint8_t App_StartScan(uint8_t scanType)
{
mlmeMessage_t *pMsg;
mlmeScanReq_t *pScanReq;
UartUtil_Print("Sending the MLME-Scan Request message to the MAC...", gAllowToBlock_d);
/* Allocate a message for the MLME (We should check for NULL). */
pMsg = MSG_AllocType(mlmeMessage_t);
if(pMsg != NULL)
{
/* This is a MLME-SCAN.req command */
pMsg->msgType = gMlmeScanReq_c;
/* Create the Scan request message data. */
pScanReq = &pMsg->msgData.scanReq;
/* gScanModeED_c, gScanModeActive_c, gScanModePassive_c, or gScanModeOrphan_c */
pScanReq->scanType = scanType;
/* ChannelsToScan & 0xFF - LSB, always 0x00 */
pScanReq->scanChannels[0] = (uint8_t)((mDefaultValueOfChannel_c) & 0xFF);
/* ChannelsToScan>>8 & 0xFF */
pScanReq->scanChannels[1] = (uint8_t)((mDefaultValueOfChannel_c>>8) & 0xFF);
/* ChannelsToScan>>16 & 0xFF */
pScanReq->scanChannels[2] = (uint8_t)((mDefaultValueOfChannel_c>>16) & 0xFF);
/* ChannelsToScan>>24 & 0xFF - MSB */
pScanReq->scanChannels[3] = (uint8_t)((mDefaultValueOfChannel_c>>24) & 0xFF);
/* Duration per channel 0-14 (dc). T[sec] = (16*960*((2^dc)+1))/1000000.
A scan duration of 3 on 16 channels approximately takes 2 secs. */
pScanReq->scanDuration = 3;
#ifdef gMAC2006_d
pScanReq->securityLevel = 0;
#endif //gMAC2006_d
/* Send the Scan request to the MLME. */
if(MSG_Send(NWK_MLME, pMsg) == gSuccess_c)
{
UartUtil_Print("Done\n\r", gAllowToBlock_d);
return errorNoError;
}
else
{
UartUtil_Print("Invalid parameter!\n\r", gAllowToBlock_d);
return errorInvalidParameter;
}
}
int main(
void
) {
#ifndef PC
USART_Init(); /* Initialize USART 0 & 1 */
stdout = &uart_output;
usart0_comp = FALSE;/* Set to false by default */
usart1_comp = FALSE;/* Set to false by default */
DDRE |= (1 << PE4); /* Initialize PE4 & PE5 to */
DDRE |= (1 << PE5); /* Outputs for the DM74L */
DDRB |= (1 << PB0); /* Output for HCSR04 */
packet msg; /* For the SENT messages */
packet rec; /* For the RECEIVED msg's */
uint16_t motor13 = 0;
uint16_t motor18 = 0;
uint16_t motor1 = 0;
uint16_t dist = 0; /* Current distance */
uint8_t des = 0; /* Desired position */
sei(); /* Set Enable Interrupt */
printf("START\n");
/* Motor variables for _TESTING_ */
motor13 = 374;
motor18 = 287;
motor1 = 271;
printf("%d\n",motor13);
printf("%d\n",motor18);
printf("%d\n",motor1);
while(1) {
// dist = GET_Dist();
//printf("%d\n",dist);
//PORTD |= (1 << PB0);
//_delay_us(10);
//PORTD &= ~(1<<PB0);
if(des =='4')
{
GET_Dist();
}
if(usart0_comp) {
cli();
MSG_SaveFrame(&rec);
usart0_comp = FALSE;
sei();
}
/* Wait for input */
if(usart1_comp) {
/* Calculate the values for the servo's here */
cli();
usart1_comp = FALSE;
des = usart1_data;
sei();
// dist = GET_Dist();
// printf("%d\n",dist);
}
/* Set to output */
PORTE &=~(1<<PE4);
PORTE |=(1<<PE5);
if(des == '1') {
msg.id = 13;
msg.len = 5;
msg.inst = 3;
msg.data[0] = 0x1E;
msg.data[1] = (uint8_t)(motor13 & 0x00FF);
msg.data[2] = (uint8_t)(motor13 >> 8);
msg.chk = CALC_Checksum(&msg);
MSG_Send(&msg);
} else if(des == '2') {
