int SDL_main(int argc, char *argv[])
{
int ret = 0;
ret = UpgradeInit();
if (ret)
goto end;
if (SDL_Init(SDL_INIT_VIDEO) < 0)
printf("Couldn't initialize SDL: %s\n", SDL_GetError());
logic_init();
WebServerInit();
SceneInit();
SceneLoad();
AudioInit();
ret = SceneRun();
dprintf(" SceneRun exit !!!\n");
FeetDog_Exit();
SceneExit();
if (ret != QUIT_UPGRADE_WEB)
WebServerExit();
NetworkExit();
uninit_auTimer();
SDL_Quit();
end:
ret = UpgradeProcess(ret);
itp_codec_standby();
exit(ret);
return ret;
}
static void init_all(void) {
led_group(LED_ALL, false);
logic_init();
flipflop_init();
counter_init();
shiftreg_init();
povmsg_init();
dice_init();
game_init();
select = modeDefault;
mode = modeDefault;
sparkle_delay = SPARKLE_DELAY_DFLT;
sparkle_timer = 0;
select_timer = 0;
off_timer = 0;
idle_timer = 0;
}
int main(void)
{
char wdrst = 0;
uint8_t mcusr;
mcusr = MCUSR;
if ( mcusr & _BV(WDRF) ) {
wdrst = 1;
}
MCUSR = 0;
wdt_disable();
cli();
#ifdef LED1
LED1 = 1;
#endif
uart_init(UART_BAUD_SELECT_DOUBLE_SPEED(115200,F_CPU));
stdout = &mystdout;
sei();
if ( wdrst ) {
kputs("\n***WATCHDOG RESET***\n");
}
wdt_enable(WDTO_8S);
wdt_reset();
kputs("\nSetting DDR registers\n");
DDRA = DDRA_SETTING;
DDRB = DDRB_SETTING;
DDRC = DDRC_SETTING;
DDRD = DDRD_SETTING;
DIDR0 = 0;
DIDR1 = 0;
/*
kputs("Hi i2c\n");
i2c_init();
kputs("Hi humid\n");
humid_init();
humid_sleep();
kputs("Hi accel\n");
accel_init();
accel_sleep();
kputs("Hi light\n");
light_init();
light_sleep();
kputs("Hi PIR\n");
pir_wake();
kputs("Hi RTC\n");
rtctimer_init();
kputs("Go away RTC\n");
DDRC &= 0x3F;
PORTC |= 0xC0;
kputs("Go to sleep\n");
uart_flush();
ACSR = (1<<ACD);
LED1 = LED2 = 0;
cli();
wdt_disable();
SMCR = (2<<SM0) | (1<<SE); //Enable Power-Down Mode
while(1) {
asm volatile ("sleep"); // __sleep(); // Go to sleep
}
*/
kputs("Initializing PCINT\n");
pcint_init();
kputs("Initializing Reports\n");
report_init();
board_init_devices();
kputs("Initializing wireless mote\n");
wdt_reset();
datalink_init();
/*
PIR_VCC = 1;
while(1) {
if(PIR_OUT_PIN) {
kputs("ON\n");
} else {
kputs("OFF\n");
}
_delay_ms(50);
}*/
kputs("Powering down all devices\n");
board_power_down_devices();
kputs("Init logic subsystem\n");
logic_init();
/*
kputs("Turning on always-on devices\n");
pir_wake();
accel_wake();
*/
board_setup_reporting();
kputs("Starting RTC clock\n");
rtctimer_init();
rtctimer_set_periodic_alarm(report_interval_needed(),&rtc_timer_cb);
wdt_reset();
wdt_disable();
while(1)
{
//wdt_enable(WDTO_2S);
//wdt_reset();
pcint_check();
rtctimer_check_alarm();
wdt_disable();
datalink_tick();
#ifdef USE_PN532
rtc_timer_cb(); // causes monitor list to be run
#else
#if defined LOW_POWER // do we have a RTC clock and battery-powered
avr_sleep();
#else
avr_doze();
#endif
#endif
}
}
/*
* Play soccer
*/
void soccer_run(void)
{
unsigned int timeBase, ballCount;
GolfBall golfBall[MAX_GOLF_BALLS];
Goal goalBlue;
Goal goalYellow;
int maxTime = 0;
#ifdef DEBUG
int* debugInfo;
#endif
// initialize logic module
logic_init();
// play soccer until play switch is set off
while(1/*srv_getPlaySwitchState() == switchOn*/)
{
MEASURE_START;
// check exit condition
// get time base
timeBase = systemTime_getSystemTimeBase();
if (timeBase & SYSTEM_MAIN_LOOP_TIME_BASE)
{
// take picture
camera_grabFrame();
// find golf balls, no markings needed
ballCount = colors_searchGolfBalls((unsigned char *)FRAME_BUF, &golfBall[0], NO_MARKING);
// find both goals
colors_searchGoal((unsigned char *)FRAME_BUF, &goalBlue, colorBlue, NO_MARKING);
colors_searchGoal((unsigned char *)FRAME_BUF, &goalYellow, colorYellow, NO_MARKING);
// handle logic (attacking goal specified by switch)
if (srv_isBlueGoalSelected())
{
// Blue is opponent's, yellow is my own goal
logic_handleLogic(ballCount, &golfBall[0], &goalBlue, &goalYellow);
}
else
{
// Yellow is opponent's, blue is my own goal
logic_handleLogic(ballCount, &golfBall[0], &goalYellow, &goalBlue);
}
}
if (timeBase & SYSTEM_3x_MAIN_LOOP_TIME_BASE)
{
//uart_uart2SetCharsToBuffer(buf, 3);
//uart_uart2SendBuffer();
}
if (timeBase & SYSTEM_12x_MAIN_LOOP_TIME_BASE)
{
io_LED2Toggle();
//printf("Loop time: %d", maxTime);
// enable IR receivers
//timer_enableTimer(TIMER3);
//timer_enableTimer(TIMER7);
//printf("left: %d, right: %d", timer_getTimerWidth(TIMER7), timer_getTimerWidth(TIMER3) );
#ifdef DEBUG
// debug data
debugInfo = debug_getDebugInfo();
printf("%d %d %d %d %d %d %d %d %d %d %d %d", *debugInfo, *(debugInfo + 1), *(debugInfo + 2), *(debugInfo + 3),
*(debugInfo + 4), *(debugInfo + 5), *(debugInfo + 6), *(debugInfo + 7),
*(debugInfo + 8), *(debugInfo + 9), *(debugInfo + 10), *(debugInfo + 11) );
#endif
}
MEASURE_STOP;
if ( MEASURE_RESULT > maxTime ) maxTime = MEASURE_RESULT;
// keep in loop until 30 ms elapsed from last time
while (!systemTime_checkMainLoopDuration())
{
doIdleTime();
}
}
}
/*===========================================================================*/
int main(void)
{
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* kruciální řádek protože pokud se to zapne bez debugru tak je tam
* jenom bordel a když se to pak srovnává s NULL tak se to cely
* vymrdá a skoči do unhandled exception
*/
uint8_t i;
for (i = 0 ; i< 60 ; i++)
logic_pointery[i] = NULL;
//test_logic_fill();
chThdSleepMilliseconds(100);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
*/
usb_user_init();
/*
* Shell manager initialization.
*/
shellInit();
/*
* Init tft display ssd1289 and gui
*/
gui_init();
/**
* @brief start the whole bad thing
*/
logic_init();
/*
* start external interrupt system
*/
extStart(&EXTD1, &extcfg);
/*
* start wah thread
*/
wah_init();
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
EventListener el;
chEvtRegister(&event_touch, &el, TOUCH_PUSH);
#ifdef I2C_TEST
i2c_test();
#endif
gui_thread();
while(TRUE);
}
