int main(void)
{
unsigned char currentState = 0;
nextState = NOINTERRUPT;
for(int i = 0 ; i < PACKETSIZE ; i++){
receive_buffer[i] = 255;
}
bufferpos = 0;
while(1){
if(nextState != NOINTERRUPT){
currentState = nextState;
}
switch(currentState){
case INITIALIZATION:
Initialize_Mega2560();
Initialize_USART0(9600); //Fastest Stable Clock is 38400
Initialize_USART1(9600);
Initialize_Sabertooth();
currentState = WAITFORHOST;
break;
case WAITFORHOST:
cli();
SendStringUSART0((unsigned char *)"ID: MainDrive\r\n");
if(GetByteUART() == 'D'){
SendStringUSART0((unsigned char *)"Master Found. Switching to Drive Mode.\r\n");
currentState = DRIVING;
SendByteUSART0('r');
sei();
break;
}
_delay_ms(500);
PORTB |= (1<<PB7);
_delay_ms(100);
PORTB &= ~(1<<PB7);
_delay_ms(100);
break;
case DRIVING:
break;
case 3:
break;
default:
break;
}
}
return 0;
}
/** Main Function */
int main (void)
{
/** Local Varibles */
FATFS fs;
FIL log;
unsigned char recv;
enum states {idle, running, sample, transmit} state;
state = idle; //set initial state to idle
initialize();
// Initialize TIMER/COUNTER0
initializeTIMER0();
// Initialize file system, check for errors
//if(initializeFAT(&fs) == ERR_NONE){
// Open file for writing, create the file if it does not exist, truncate existing data, check for errors
//f_open(&log, "/log.txt", FA_WRITE | FA_CREATE_ALWAYS);
// Set TIMER/COUNTER0 period, check for errors
setTIMER0(5, 255);
PORTB=0b01000000;
PORTC=0b11111111;
// While switch A7 is on
while (PINA & (1 << PA7))
{
switch(state){
case idle:
recv=GetByteUART();
while(recv != 's')
recv=GetByteUART();
if(recv == 's')
state = running;
break;
case running:
while(recv != 's'){
recv=GetByteUART();
// If TIMER/COUNTER0 has elapsed (checkTimer)
if(checkTIMER0()){
state = sample;
break;
}
}
if(recv == 's')
state = idle;
break;
case sample:
// Read accelerometer data, write to file, check for errors (PORTF is the accelerometer)
//read_adc(5); //5 is x, 6 is y
//f_write(&log, read_adc(5), 8, 8);
state = transmit;
break;
case transmit:
state = idle;
break;
default:
state = idle;
break;
}
}
// Close the file and unmount the file system, check for errors
//} //else {//there were errors mounting the filesystem. do stuff
}
