void main(void) {
PLL_init();
lcd_init();
SCI0_init(9600);
SCI1_int_init(9600); // Channel to talk to ESP8266
motor0_init(); // These functions actually control PWM outputs
motor1_init(); // We use them to run the RGB LED.
motor2_init();
RTI_init();
SW_enable();
initq();
DDRH = 0; // PORTH is an input.
result = 0;
status = 'b';
// Populate binary search tree:
set_lcd_addr(0);
send_at_command_sci1("ATE0"); // change to ATE1 for debug
status = 'i';
// Establish connection to server.
send_at_command_sci1("AT+CWMODE=1"); // Set ESP to station mode
send_at_command_sci1("AT+CIPMODE=0"); // Set ESP to normal transmission mode
send_at_command_sci1("AT+CIPMUX=0"); // Set ESP to single-connection mode
send_at_command_sci1("AT+CWJAP=\"Freynet\",\"\""); // Connect to network
send_at_command_sci1("AT+CIPSTART=\"TCP\",\"fpf3.net\",12345"); // connect to server
while(1){
command = '\0';
while(qempty());
command = getq();
switch (command) {
case 'n':
status = 'w';
result = new_sequence();
ms_delay(500); // If we finish too quickly, we open a connection the ESP thinks is already open, and it breaks.
send_at_command_sci1("AT+CIPSTART=\"TCP\",\"fpf3.net\",12345"); // connect to server
break;
}
outchar0(result);
}
}
////////////////////////////////////////
// Initalize //
// Ports, Interrupts, Motor and Servo //
////////////////////////////////////////
void portInit(void){
PLL_init(); // set system clock frequency to 24 MHz
//Direction registers
DDRH = 0x00; // Port H is input
DDRB = 0x0F; // Port B starts as output
PORTB = 0x00; // turn all LED's OFF
DDRT = 0xFF; // port T7 is input rest is output
//motors
PTT_PTT0 = 0; //default
PTT_PTT1 = 0; //default
PTT_PTT2 = 0; //default
PTT_PTT3 = 0; //default
motor0_init(); //left motor
motor1_init(); //right motor
//initialize a/d
ad0_enable(); //enable a/d converter w/ interrupt with custom values
RTI_init(); //turn on real time interrupt
}