void Asuro::Init(void)
{
pinMode(rforward, OUTPUT);
pinMode(rreverse, OUTPUT);
pinMode(lforward, OUTPUT);
pinMode(lreverse, OUTPUT);
pinMode(frontled, OUTPUT);
pinMode(statusledred, OUTPUT);
pinMode(statusledgreen, OUTPUT);
pinMode(odometricled, OUTPUT);
pinMode(irtxled, OUTPUT);
// fix analog-to-digital converter timing (for 8 MHz clock)
ADCSRA &= ~ADPS0;
setTimer2();
}
int main() {
CFGCONbits.JTAGEN = 0; // turn off JTAG, get back those pins for IO use
// set PIC32to max computing power
DEBUGLED = 0;
// enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
INTEnableInterrupts();
PIC32MX250_setup_pins();
SYSTEMConfigPerformance(SYS_FREQ);
setTimer2(OUTPUT_FREQ); //
setupTimer3(BUFFER_FREQ);
initPWM(); //Initializing PWM on OC3.
// Initialize texture buffer and index to zero
int i;
tBuff.Index = 0; //init to zero
tBuff.On = 0; //turn off
tBuff.Length0 = 0; //start with zero length
tBuff.Length1 = 0; //start with zero length
tBuff.Front = 0;
for (i = 0; i < MAX_BUFFER_LENGTH; i++) {
tBuff.Buff0[i] = 0; //init entire buffer to zero
tBuff.Buff1[i] = 0; //init entire buffer to zero
}
// Initialize the USB host
ConnectionInit();
DEBUGLED = 1;
//Main USB State Machine
while (1) {
// Keep the USB connection running;
// Handle incoming data and manage outgoing data.
ConnectionTasks();
// Main state machine
switch (state) {
case STATE_INIT:
state = STATE_WAITING;
h = INVALID_CHANNEL_HANDLE;
break;
case STATE_WAITING:
DEBUGLED = 0;
if (ADBAttached()) {
state = STATE_CONNECTING;
}
break;
case STATE_CONNECTING:
if (ADBConnected()) {
// Open a channel to the Android device
// See "adb.h" in libadb for more details
// (I don't think the name tcp:4545 matters)
h = ADBOpen("tcp:4545", &ADBCallback);
if (h != INVALID_CHANNEL_HANDLE) {
state = STATE_CONNECTED;
WriteCoreTimer(0);
// Send plaintext and let the recipient do formatting
ADBWrite(h & 0xFF, "Hello from TPAD!", 17);
}
}
break;
case STATE_CONNECTED:
DEBUGLED = 1;
if (!ADBAttached()) {
state = STATE_INIT;
}
if (ADBChannelReady(h)) {
// Execute tasks that rely on the Android-PIC32 connection
// Here we will just wait for messages to come in and be handled below
}
// Timeout timer. If the coretimer is not reset by a keepalive command from the Android, the PIC will reset the USB communications
if (ReadCoreTimer() > 200000000) {
state = STATE_INIT;
}
break;
} // end state machine
} // end while loop
return 0;
}
