void RplNode_TestRawSerial()
{
static unsigned char aBuff[2048];
static unsigned int nReadLen;
nReadLen = 20;
int i;
for(i=0;i<nReadLen;i++)
{
aBuff[i] = 'a';
}
aBuff[nReadLen++]='\n';
aBuff[nReadLen++]='\r';
USART_Open(USART3_FID, 38400);
USART_Open(USART2_FID, 38400);
for(i=0;;i++)
{
aBuff[0] = '1'+(i%10);
USART_WriteBuff( USART3_FID, (unsigned char*)aBuff, nReadLen );
USART_WriteBuff( USART2_FID, (unsigned char*)aBuff, nReadLen);
OS_TASK_EVENT ucCrtEvent = OS_WaitEventTimed( 0xFF, 15000 );
}
}
void TestControllerInit() {
testController.timeoutCounter = 0;
//CommInterfaceInit(&testController.inf, &testController.port);
StartTimer(&testController.pingTimer);
testController.inc='A';
USART_Open(&testController.cameraPort, 1, USART_BAUD_9600, 10, 10, true, true);
}
int main(void) {
USART roverPort;
USART devicePort;
CommInterface inf;
CommPacket * commPkt;
USART_InitPortStructs();
USART_Open(&roverPort, 0, USART_BAUD_38400, 20, 20, true);
CommInterfaceInit(&inf, &port0);
USART_Open(&devicePort, 1, USART_BAUD_38400, 20, 20, true);
while(1) {
while(CommRXPacketsAvailable(&inf)) {
commPkt = CommGetPacket(&inf);
if (!commPkt) // didn't get packet returned, even though it said we had one. give up for now
break;
if (commPkt->length==0) { // bad 0-length packet, skip to the next one
CommDeletePacket(commPkt);
free(commPkt);
continue;
}
// must at least have a length of 1, check the first byte to see what device this is targeted at
if (commPkt->data[0]==SYS_PANTILT) {
}
else if (commPkt->data[0]==SYS_CAMERA) {
}
else if (commPkt->data[0]==SYS_BAROMETER) {
}
else if (commPkt->data[0]==SYS_ACCEL) {
}
CommDeletePacket(commPkt);
free(commPkt);
}
}
}
void InitRover(Rover * rov) {
unsigned char i=0;
for (i=0; i<NUM_MODULES; i++) { // init
rov->messageHandlers[i] = 0;
rov->moduleTickers[i] = 0;
rov->messageTargets[i].pkt.data = rov->messageTargets[i].data;
}
USART_Open(&rov->dataSerial, 5, USART_BAUD_115200, 255, 255, false, true);
CommInterfaceInit(&rov->dataIface, &rov->dataSerial);
CommInterfaceSetRXCallback(&rov->dataIface, &WirelessMessageReceived);
CommInterfaceSetTXCallback(&rov->dataIface, &WirelessMessageTransmitComplete);
StartTimer(&(GlobalRover->pktTxTimer));
GlobalRover = rov;
}
int main(void)
{
DDRD = 0b01110000;
DDRA = 0b00000001;
//wdt_reset();
//wdt_disable();
char replyDat[2];
i2c_init();
USART roverPort;
USART devicePort;
CommInterface inf;
CommPacket commPkt;
char commData[20];
char commRet;
Timer accelTimer;
Timer dataTimer;
int sensorError;
//PORTA = 1;
//_delay_ms(250);
//PORTA = 0;
//_delay_ms(250);
USART_InitPortStructs();
setDeviceCamera();
USART_Open(&roverPort, 0, USART_BAUD_38400, 20, 32, true);
CommInterfaceInit(&inf, &roverPort);
USART_Open(&devicePort, 1, USART_BAUD_9600, 20, 5, false);
setDeviceServo();
sensorError = InitAccelerometer(&inf);
sensorError = InitBarometer(&inf);
InitServos(&devicePort);
InitCamera(&devicePort);
InitTimers();
//StartTimer(&accelTimer);
//StartTimer(&dataTimer);
setDeviceServo();
PORTA |= 1;
PanTiltSetPosition(TILT_SERVO, TILT_CENTER);
PanTiltSetPosition(PAN_SERVO, PAN_CENTER);
char pingRespond = 0xAA;
commPkt.data = commData;
CommPacket pkt;
char textBuffer[40];
char length;
unsigned char aclBuf[6];
//ServiceBarometer(3);
//Enable Watchdog
//wdt_enable(0b111);
while(1) {
while(CommRXPacketsAvailable(&inf)) {
commRet = CommGetPacket(&inf, &commPkt, 20);
if (!commRet) // didn't get packet returned, even though it said we had one. give up for now
break;
if (commPkt.length==0) { // bad 0-length packet, skip to the next one
continue;
}
// must at least have a length of 1, check the first byte to see what device this is targeted at
if (commPkt.data[0]==SYS_PANTILT) {
PORTA &= ~1;
setDeviceServo();
PanTiltHandlePacket(&commPkt);
PORTA = sensorError;
}
else if (commPkt.data[0]==SYS_CAMERA) {
PORTA &= ~1;
setDeviceCamera();
CameraHandlePacket(&commPkt);
PORTA = sensorError;
}
else if (commPkt.data[0]==SYS_BAROMETER) {
PORTA &= ~1;
BarometerHandlePacket(&commPkt);
PORTA = sensorError;
}
else if (commPkt.data[0]==SYS_ACCEL) {
PORTA &= ~1;
AccelHandlePacket(&commPkt);
PORTA = sensorError;
}
else if (commPkt.data[0]==SYS_PING)
{
pkt.target = 1;
pkt.length = 1;
pkt.data = &pingRespond;
CommSendPacket(&inf,&pkt);
}
}
/*
if (GetSpanUs(&dataTimer) > FROM_uS(1000000))
{
USART_WriteByte(&roverPort,0xFE);
USART_WriteByte(&roverPort,temperatureData>>8);
USART_WriteByte(&roverPort,temperatureData&0xFF);
USART_WriteByte(&roverPort,barometerData>>16);
USART_WriteByte(&roverPort,(barometerData>>8)&0xFF);
USART_WriteByte(&roverPort,barometerData&0xFF);
AccelGetAverage(aclBuf);
length = sprintf(textBuffer,"X: %d \tY: %d \n\r",(aclBuf[0]<<8)|aclBuf[1], (aclBuf[2]<<8)|aclBuf[3]);
USART_Write(&roverPort,textBuffer,length);
StartTimer(&dataTimer);
}
*/
/*
if (GetSpanUs(&accelTimer) > 39)
{
sensorError |= AccelAddDataToBuffer();
StartTimer(&accelTimer);
}
if (BarometerGetState() == 1)
{
sensorError |= ServiceBarometer(3);
}*/
}
}
