int Chirp::setLink(Link *link)
{
m_link = link;
m_errorCorrected = m_link->getFlags()&LINK_FLAG_ERROR_CORRECTED;
m_sharedMem = m_link->getFlags()&LINK_FLAG_SHARED_MEM;
m_blkSize = m_link->blockSize();
if (m_errorCorrected)
m_headerLen = 12; // startcode (uint32_t), type (uint8_t), (pad), proc (uint16_t), len (uint32_t)
else
m_headerLen = 8; // type (uint8_t), (pad), proc (uint16_t), len (uint32_t)
if (m_sharedMem)
{
m_buf = (uint8_t *)m_link->getFlags(LINK_FLAG_INDEX_SHARED_MEMORY_LOCATION);
m_bufSize = m_link->getFlags(LINK_FLAG_INDEX_SHARED_MEMORY_SIZE);
}
else
{
m_bufSize = CRP_BUFSIZE;
m_buf = new (std::nothrow) uint8_t[m_bufSize];
}
// link is set up, need to call init
if (m_client)
return remoteInit(true);
return CRP_RES_OK;
}
void mainInit()
{
// not used pins as inputs with pull-ups
DDRB &= ~(1 << PB4);
PORTB |= (1 << PB4);
DDRB &= ~(1 << PB5);
PORTB |= (1 << PB5);
s_timerCounter = 0;
s_started = 0;
s_buttonPressed = 0;
s_buttonLock = 0;
s_speed = 40;
s_straightMode = CONTROLLER_LEFT_AND_RIGHT;
sei();
motorsInit();
wheelsInit();
controllerInitWithTimer(&mainTimerTick);
remoteInit();
sensorsInit();
ledInit();
buttonInit();
}
Chirp::~Chirp()
{
// if we're a client, disconnect (let server know)
if (m_client)
remoteInit(false);
if (!m_sharedMem)
{
restoreBuffer();
delete[] m_buf;
}
delete[] m_procTable;
}
Chirp::~Chirp()
{
log("pixydebug: Chirp::~Chirp()\n");
// if we're a client, disconnect (let server know)
if (m_client)
remoteInit(false);
if (!m_sharedMem)
{
restoreBuffer();
delete[] m_buf;
}
delete[] m_procTable;
log("pixydebug: Chirp::~Chirp() returned\n");
}
static portTASK_FUNCTION(T1, pvParameters) {
#if PL_HAS_ACCEL
ACCEL_LowLevelInit();
#endif
#if PL_HAS_REMOTE
remoteInit();
#endif
#if PL_HAS_ANALOG_JOY
AD1_Calibrate(TRUE);
CalibXY();
#endif
#if PL_HAS_FIGHT
FIGHT_Init();
#endif
#if REMOTE_WITHOUT_REFLECTANCE
FRTOS1_vTaskSuspend(checkRefl);
#endif
for(;;) {
EVNT_SetEvent(EVNT_LED_HEARTBEAT);
FRTOS1_vTaskDelay(1000/TRG_TICKS_MS);
}
}
