int main(void)
{
DDRD = 0b01110000;
DDRA = 0b00000001;
//wdt_reset();
//wdt_disable();
char replyDat[2];
i2c_init();
USART roverPort;
USART devicePort;
CommInterface inf;
CommPacket commPkt;
char commData[20];
char commRet;
Timer accelTimer;
Timer dataTimer;
int sensorError;
//PORTA = 1;
//_delay_ms(250);
//PORTA = 0;
//_delay_ms(250);
USART_InitPortStructs();
setDeviceCamera();
USART_Open(&roverPort, 0, USART_BAUD_38400, 20, 32, true);
CommInterfaceInit(&inf, &roverPort);
USART_Open(&devicePort, 1, USART_BAUD_9600, 20, 5, false);
setDeviceServo();
sensorError = InitAccelerometer(&inf);
sensorError = InitBarometer(&inf);
InitServos(&devicePort);
InitCamera(&devicePort);
InitTimers();
//StartTimer(&accelTimer);
//StartTimer(&dataTimer);
setDeviceServo();
PORTA |= 1;
PanTiltSetPosition(TILT_SERVO, TILT_CENTER);
PanTiltSetPosition(PAN_SERVO, PAN_CENTER);
char pingRespond = 0xAA;
commPkt.data = commData;
CommPacket pkt;
char textBuffer[40];
char length;
unsigned char aclBuf[6];
//ServiceBarometer(3);
//Enable Watchdog
//wdt_enable(0b111);
while(1) {
while(CommRXPacketsAvailable(&inf)) {
commRet = CommGetPacket(&inf, &commPkt, 20);
if (!commRet) // didn't get packet returned, even though it said we had one. give up for now
break;
if (commPkt.length==0) { // bad 0-length packet, skip to the next one
continue;
}
// must at least have a length of 1, check the first byte to see what device this is targeted at
if (commPkt.data[0]==SYS_PANTILT) {
PORTA &= ~1;
setDeviceServo();
PanTiltHandlePacket(&commPkt);
PORTA = sensorError;
}
else if (commPkt.data[0]==SYS_CAMERA) {
PORTA &= ~1;
setDeviceCamera();
CameraHandlePacket(&commPkt);
PORTA = sensorError;
}
else if (commPkt.data[0]==SYS_BAROMETER) {
PORTA &= ~1;
BarometerHandlePacket(&commPkt);
PORTA = sensorError;
}
else if (commPkt.data[0]==SYS_ACCEL) {
PORTA &= ~1;
AccelHandlePacket(&commPkt);
PORTA = sensorError;
}
else if (commPkt.data[0]==SYS_PING)
{
pkt.target = 1;
pkt.length = 1;
pkt.data = &pingRespond;
CommSendPacket(&inf,&pkt);
}
}
/*
if (GetSpanUs(&dataTimer) > FROM_uS(1000000))
{
USART_WriteByte(&roverPort,0xFE);
USART_WriteByte(&roverPort,temperatureData>>8);
USART_WriteByte(&roverPort,temperatureData&0xFF);
USART_WriteByte(&roverPort,barometerData>>16);
USART_WriteByte(&roverPort,(barometerData>>8)&0xFF);
USART_WriteByte(&roverPort,barometerData&0xFF);
AccelGetAverage(aclBuf);
length = sprintf(textBuffer,"X: %d \tY: %d \n\r",(aclBuf[0]<<8)|aclBuf[1], (aclBuf[2]<<8)|aclBuf[3]);
USART_Write(&roverPort,textBuffer,length);
StartTimer(&dataTimer);
}
*/
/*
if (GetSpanUs(&accelTimer) > 39)
{
sensorError |= AccelAddDataToBuffer();
StartTimer(&accelTimer);
}
if (BarometerGetState() == 1)
{
sensorError |= ServiceBarometer(3);
}*/
}
}
void main(void)
{
int8 i;
DisableInterrupts;
InitPorts();
InitADC();
OpenUSART(USART_TX_INT_OFF&USART_RX_INT_OFF&USART_ASYNCH_MODE&
USART_EIGHT_BIT&USART_CONT_RX&USART_BRGH_HIGH, _B38400);
OpenTimer0(TIMER_INT_OFF&T0_8BIT&T0_SOURCE_INT&T0_PS_1_16);
OpenTimer1(T1_8BIT_RW&TIMER_INT_OFF&T1_PS_1_8&T1_SYNC_EXT_ON&T1_SOURCE_CCP&T1_SOURCE_INT);
OpenCapture1(CAPTURE_INT_ON & C1_EVERY_FALL_EDGE); // capture mode every falling edge
CCP1CONbits.CCP1M0 = NegativePPM;
OpenTimer2(TIMER_INT_ON&T2_PS_1_16&T2_POST_1_16);
PR2 = TMR2_5MS; // set compare reg to 9ms
INTCONbits.TMR0IE = false;
// setup flags register
for ( i = 0; i<16; i++ )
Flags[i] = false;
_NoSignal = true;
InitArrays();
ReadParametersEE();
ConfigParam = 0;
ALL_LEDS_OFF;
Beeper_OFF;
LedBlue_ON;
INTCONbits.PEIE = true; // enable peripheral interrupts
EnableInterrupts;
LedRed_ON; // red LED on
Delay1mS(100);
IsLISLactive();
#ifdef ICD2_DEBUG
_UseLISL = 1; // because debugger uses RB7 (=LISL-CS) :-(
#endif
NewK1 = NewK2 = NewK3 = NewK4 =NewK5 = NewK6 = NewK7 = 0xFFFF;
PauseTime = 0;
InitBarometer();
InitDirection();
Delay1mS(COMPASS_TIME);
// send hello text to serial COM
Delay1mS(100);
ShowSetup(true);
Delay1mS(BARO_PRESS_TIME);
while(1)
{
// turn red LED on of signal missing or invalid, green if OK
// Yellow led to indicate linear sensor functioning.
if( _NoSignal || !Switch )
{
LedRed_ON;
LedGreen_OFF;
if ( _UseLISL )
LedYellow_ON;
}
else
{
LedGreen_ON;
LedRed_OFF;
LedYellow_OFF;
}
ProcessComCommand();
}
} // main
