int main ( void )
{
    fun_queue = queueInit(FUN_Q_LEN);
    rx_pay_queue = pqInit(12); //replace 12 with a #define const later
    test_function tf;

    /* Initialization */
    SetupClock();
    SwitchClocks();
    SetupPorts();

    SetupInterrupts();
    SetupI2C();
    SetupADC();
    SetupTimer1();
    SetupPWM();
    SetupTimer2();
    gyroSetup();
    xlSetup();
    dfmemSetup();

    WordVal pan_id    = {RADIO_PAN_ID};
    WordVal src_addr  = {RADIO_SRC_ADDR};
    WordVal dest_addr = {RADIO_DEST_ADDR};

    radioInit(src_addr, pan_id, RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
    radioSetDestAddr(dest_addr);
    radioSetChannel(RADIO_MY_CHAN);

    char j;
    for(j=0; j<3; j++){
        LED_2 = ON;
        delay_ms(500);
        LED_2 = OFF;
        delay_ms(500);
    }

    LED_2 = ON;

    EnableIntT2;
    while(1){
        while(!queueIsEmpty(fun_queue))
        {
            rx_payload = pqPop(rx_pay_queue);
            tf = (test_function)queuePop(fun_queue);
            (*tf)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload));
            payDelete(rx_payload);
        }
    }
    return 0;
}
Exemplo n.º 2
0
void cmdHandleRadioRxBuffer(void) {

    Payload pld;
    unsigned char command, status;

    if ((pld = radioReceivePayload()) != NULL) {

        status = payGetStatus(pld);
        command = payGetType(pld);

        //Due to bugs, command may be a surprious value; check explicitly
        if (command <= MAX_CMD_FUNC) {
            cmd_func[command](status, pld->data_length, payGetData(pld));
        }

        payDelete(pld);
    }

    return;
}
Exemplo n.º 3
0
/*-----------------------------------------------------------------------------
 *          AUX functions
-----------------------------------------------------------------------------*/
static void cmdEcho(MacPacket packet) {
        
    Payload pld = macGetPayload(packet);
    unsigned char status = payGetStatus(pld);
    unsigned char* frame = payGetData(pld);
    unsigned int length = payGetDataLength(pld);
    unsigned int srcAddr = macGetSrcAddr(packet);
    
    MacPacket response;
    
    response = radioRequestPacket(length);
    if(response == NULL) { return; }
    macSetDestAddr(response, srcAddr);
    
    pld = response->payload;
    paySetData(pld, length, frame);
    paySetStatus(pld, status);
    paySetType(pld, CMD_ECHO);
    
    while(!radioEnqueueTxPacket(response));
}
Exemplo n.º 4
0
int main() {

    // Processor Initialization
    SetupClock();
    SwitchClocks();
    SetupPorts();
    sclockSetup();

    LED_1 = 1;
    LED_2 = 1;
    LED_3 = 1;

    // Message Passing
    fun_queue = carrayCreate(FUN_Q_LEN);
    cmdSetup();

    // Radio setup
    radioInit(RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
    radioSetChannel(RADIO_CHANNEL);
    radioSetSrcAddr(RADIO_SRC_ADDR);
    radioSetSrcPanID(RADIO_PAN_ID);

    uart_tx_packet = NULL;
    uart_tx_flag = 0;
    //uartInit(&cmdPushFunc);
    tactileInit();

    // Need delay for encoders to be ready
    delay_ms(100);
    amsEncoderSetup();
    mpuSetup();
    tiHSetup();
    dfmemSetup();
    telemSetup();
    adcSetup();
    pidSetup();



    LED_1 = 0;
    LED_3 = 1;
    while(1){
        // Send outgoing radio packets
        radioProcess();

        /*
        // Send outgoing uart packets
        if(uart_tx_flag) {
            uartSendPacket(uart_tx_packet);
            uart_tx_flag = 0;
        }*/

        checkTactileBuffer();

        // move received packets to function queue
        while (!radioRxQueueEmpty()) {
            // Check for unprocessed packet
            rx_packet = radioDequeueRxPacket();
            if(rx_packet != NULL) {
                cmdPushFunc(rx_packet);
            }
        }

        // process commands from function queue
        while(!carrayIsEmpty(fun_queue)) {
            rx_packet = carrayPopHead(fun_queue);
            unsigned int rx_src_addr = rx_packet->src_addr.val;
            if(rx_packet != NULL) {
               rx_payload = macGetPayload(rx_packet);
               if(rx_payload != NULL) {
                   rx_function = (test_function)(rx_payload->test);
                   if(rx_function != NULL) {
                       LED_2 = ~LED_2;
                       (rx_function)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload), rx_src_addr);
                   }
               }
               ppoolReturnFullPacket(rx_packet);
            }
        }
    }
    return 0;
}