// ==== PRIVATE FUNCTIONS =====================================================
static void clksyncSendRequest(SyncStatus sync) {
MacPacket packet;
Payload pld;
unsigned long s0;
packet = radioRequestPacket(4);
if(packet == NULL) { return; }
macSetDestAddr(packet, sync->master_addr);
macSetDestPan(packet, sync->master_pan);
pld = macGetPayload(packet);
paySetType(pld, CMD_CLOCK_UPDATE_REQUEST);
while(!radioTxQueueEmpty()) { radioProcess(); }
s0 = sclockGetGlobalTicks();
pld = macGetPayload(packet);
paySetData(pld, 4, (unsigned char*) &s0);
while(!radioEnqueueTxPacket(packet)) { radioProcess(); }
radioProcess();
sync->requests++;
if(sync->requests > MAX_REQUEST_ATTEMPTS) {
sync->state = STATE_REQUEST_TIMEOUT;
}
}
void clksyncHandleRequest(MacPacket packet) {
Payload pld;
MacPacket response;
unsigned long* frame;
unsigned long s0, m1, m2;
pld = macGetPayload(packet);
frame = (unsigned long*) payGetData(pld);
s0 = frame[0]; // Read requester time of flight
m1 = packet->timestamp + sclockGetOffsetTicks(); // Read local time of reception
response = radioRequestPacket(12); // Sending 3 longs
if(response == NULL) { return; }
macSetDestAddr(response, macGetSrcAddr(packet));
macSetDestPan(response, macGetSrcPan(packet));
pld = macGetPayload(response); // Create response packet
paySetType(pld, CMD_CLOCK_UPDATE_RESPONSE);
paySetData(pld, 4, (unsigned char*) &s0);
payAppendData(pld, 4, 4, (unsigned char*) & m1);
// Empty TX queue to minimize time of flight error
while(!radioTxQueueEmpty()) { radioProcess(); }
m2 = sclockGetGlobalTicks(); // Get approximate time of flight
payAppendData(pld, 8, 4, (unsigned char*) & m2);
while(!radioEnqueueTxPacket(response)) { radioProcess(); }
radioProcess();
}
int main (void)
{
unsigned int i;
/* Initialization */
SetupClock();
SetupPorts();
batSetup();
cmdSetup();
mcSetup();
SetupADC();
SwitchClocks();
sclockSetup();
radioInit(TXPQ_MAX_SIZE, RXPQ_MAX_SIZE);
radioSetChannel(MY_CHAN);
radioSetSrcPanID(PAN_ID);
radioSetSrcAddr(SRC_ADDR);
dfmemSetup();
camSetup();
cambuffSetup();
gyroSetup();
cmdResetSettings();
for (i = 0; i < 6; i++)
{
LED_GREEN = ~LED_GREEN; delay_ms(50);
LED_RED = ~LED_RED; delay_ms(50);
LED_ORANGE = ~LED_ORANGE; delay_ms(50);
}
LED_GREEN = 0; LED_RED = 0; LED_ORANGE = 0;
/* Program */
while (1)
{
cmdHandleRadioRxBuffer();
radioProcess();
}
}
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;
}
void __attribute__((interrupt, no_auto_psv)) _T6Interrupt(void) {
radioProcess();
_T6IF = 0;
}
int main(void) {
//wakeTime = 0;
//dcCounter = 0;
// Processor Initialization
SetupClock();
SwitchClocks();
SetupPorts();
sclockSetup();
LED_1 = 0;
LED_2 = 0;
LED_3 = 0;
cmdSetup();
radioInit(RADIO_TXPQ_MAX_SIZE, RADIO_RXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL);
radioSetSrcPanID(RADIO_PAN_ID);
radioSetSrcAddr(RADIO_SRC_ADDR);
dfmemSetup();
uint64_t id = dfmemGetUnqiueID();
telemSetup(); //Timer 5, HW priority 4
mpuSetup();
imuSetup(); //Timer 4, HW priority 3
tiHSetup();
adcSetup();
//AMS Encoders
//encSetup();
//"Open Loop" vibration & jitter generator, AP 2014
//olVibeSetup();
legCtrlSetup(); //Timer 1, HW priority 5
steeringSetup(); //Timer 5, HW priority 4
//Tail control is a special case
//tailCtrlSetup();
//Camera is untested with current code base, AP 12/6/2012
//ovcamSetup();
LED_RED = 1; //Red is use an "alive" indicator
LED_GREEN = 0;
LED_YELLOW = 0;
//Radio startup verification
//if (phyGetState() == 0x16) {
// LED_GREEN = 1;
//}
//Sleeping and low power options
//_VREGS = 1;
//gyroSleep();
/////FUNCTION TEST, NOT FOR PRODUCTION
//olVibeStart();
////////////////////
while (1) {
cmdHandleRadioRxBuffer();
radioProcess();
}
}
