int main()
{
init();
pinMode(14, OUTPUT);
pinMode(15, OUTPUT);
digitalWrite(15, LOW);
pinMode(radioPowerPin, OUTPUT); // power cycle radio
digitalWrite(radioPowerPin, LOW);
delay(100);
digitalWrite(radioPowerPin, HIGH);
delay(100);
pinMode(sonarPowerPin, OUTPUT);
pinMode(sonarGroundPin, OUTPUT);
digitalWrite(sonarGroundPin, LOW);
digitalWrite(sonarPowerPin, HIGH);
Sonar_Init();
Radio_Init();
Radio_Configure(RADIO_2MBPS, RADIO_HIGHEST_POWER);
Radio_Configure_Rx(RADIO_PIPE_0, sensor_address, ENABLE);
for (;;)
{
if (radio_flag)
{
radio_flag = 0;
Radio_Receive(&packet); // assumption: radio FIFO contains just one packet
if (packet.type == REQUEST_ECHO)
{
Sonar_PreTrigger();
Radio_Set_Tx_Addr(packet.payload.request.return_address);
packet.type = CONFIRM_ECHO;
packet.payload.confirm.station_id = STATION_ID;
Radio_Transmit(&packet, RADIO_WAIT_FOR_TX);
// sonar is triggered as soon as the explorer acknowledges it received the confirmation
Sonar_Trigger();
delay(50);
digitalWrite(14, LOW);
}
packet.type = EMPTY;
}
}
for (;;);
return 0;
}
int main(void) {
LockoutProtection();
InitializeMCU();
//init uart
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
LED_Init();
Jumper_Init();
ADC_Init();
Sonar_Init();
usemotors = Jumper_Value & 0x8;
if ((Jumper_Value & 0x7) == 0x1) {
if (usemotors) {
Motor_Init(false,true);
Motor_Set(127,127);
}
avoid_sonar(0);
avoid_ir(filtered_ir);
for (;;);
}
if ((Jumper_Value & 0x7) == 0x2) {
Travel_Init(usemotors);
Travel_Go(FULL_SPEED);
for (;;);
}
if ((Jumper_Value & 0x7) == 0x3) {
if (usemotors) {
Motor_Init(false,true);
Motor_Set(127,127);
}
for (;;);
}
//if no jumpers are set, enter debug mode
Encoder_Init(true,false);
for (;;c++) {
ADC_Background_Read(0);
Sonar_Background_Read(0);
Encoder_Background_Read(0);
Jumper_Read();
UARTprintf("ADC[%3d %3d %3d %3d %3d %3d %3d %3d] S[%7d] E[%3d %3d] J[%1x] c:%d\n",
ADC_Values[0],ADC_Values[1],ADC_Values[2],ADC_Values[3],ADC_Values[4],ADC_Values[5],ADC_Values[6],ADC_Values[7],
Sonar_Value,
Encoder_Values[0],Encoder_Values[1],
Jumper_Value,
c
);
LED_Set(LED_0,c);
LED_Set(LED_1,c+64);
LED_Set(LED_2,c+128);
LED_Set(LED_3,c+192);
WaitUS(20000);
}
}