int main(void)
{
InitIO();
init_ADC();
InitTimer1();
InitTimer2();
InitExtInt();
while(1)
{
switch(display_select)
{
case 0x00:
MusicOnLed();
break;
case 0x01:
FadeOnLed();
break;
case 0x02:
StrobeOnLed(100, 100, 100);
break;
/*
.
. TODO:: Sync up pin change interrupts for the last push button
.
*/
case 0xFF:
ColorOnLed(1,0,1);
break;
}
}
}
void main (void)
{
OSInit();
InitTimer2();
OSTaskCreate(sys_init, (void *)0, &sys_init_Stk[0],1);
OSStart();
}
void Timer2Switch(uchar switchEn)
{
if(switchEn)
{
Manage100usEvent = EmptyTask;
#if(TIMEER_10MS_ENABLE != 0)
memset(timeInf10ms,0,sizeof(timeInf10ms));
#endif
InitTimer2();
#if(CONFIG_METER_SW_DEBUG_MODE == GAL_YES)
InitTimer5();
#endif
}
else
{
;
}
}
void main() {
Display_Init();
MCU_Init();
#ifdef INIT_BLE
BLE_Init();
delay_ms(2000);
#else
RN_WAKE = 1;
wait_response("CMD");
#endif
DrawFrame();
InitTimer2();
while(1)
{
if(data_ready)
{
//If characteristic is configured as write
//received messages come here
Display_Message();
reset_buff();
}
else
{
//Test: every 5sec increase baterry level (0 to 100%)
//and send value via Bluetooth Low Energy
if (tmr_flg)
{
batt_level++;
if(batt_level > 100)
{
batt_level = 0;
}
Display_BatteryLevel();
if(RN_CONN)
{ //send battery level value if BLE connected
shorttohex(batt_level, batt_level_txt);
ltrim(batt_level_txt);
ble2_write_server_characteristic_value_via_UUID("2A19",batt_level_txt);
}
tmr_flg = 0;
}
}
}
}
void CShiftPWM::Start(int ledFrequency, unsigned char maxBrightness){
// Configure and enable timer1 or timer 2 for a compare and match A interrupt.
m_ledFrequency = ledFrequency;
m_maxBrightness = maxBrightness;
if(LoadNotTooHigh() ){
if(m_timer==1){
InitTimer1();
}
else if(m_timer==2){
InitTimer2();
}
}
else{
Serial.println("Interrupts are disabled because load is too high.");
cli(); //Disable interrupts
}
}
/*********************************
main entry point
*********************************/
int main ( void )
{
// Init the basic hardware
InitCnsts();
InitHardware();
// Start the main 1Khz timer and PWM timer
InitTimer1();
InitTimer2();
InitPWM();
// Initialize A2D,
InitA2D();
UART1_Init(XBEE_SPEED); // for communication and control signals
UART2_Init(LOGGING_RC_SPEED); // for spektrum RC satellite receiver
// Wait for a bit before doing rate gyro bias calibration
// TODO: test this length of wait
uint16_t i=0;for(i=0;i<60000;i++){Nop();}
// turn on the leds until the bias calibration is complete
led_on(LED_RED);
led_on(LED_GREEN);
// Initialize the AHRS
AHRS_init();
// Initialize the Controller variables
Controller_Init();
// MAIN CONTROL LOOP: Loop forever
while (1)
{
// Gyro propagation
if(loop.GyroProp){
loop.GyroProp = 0;
// Call gyro propagation
AHRS_GyroProp();
}
// Attitude control
if(loop.AttCtl){
loop.AttCtl = 0;
// Call attitude control
Controller_Update();
}
// Accelerometer correction
if( loop.ReadAccMag ){
loop.ReadAccMag = 0;
AHRS_AccMagCorrect( );
}
// Send data over modem - runs at ~20Hz
if(loop.SendSerial){
loop.SendSerial = 0;
// Send debug packet
UART1_SendAHRSpacket();
}
// Process Spektrum RC data
if(loop.ProcessSpektrum){
loop.ProcessSpektrum = 0;
UART2_ProcessSpektrumData();
}
// Read data from UART RX buffers - 500 Hz
if(loop.ReadSerial){
loop.ReadSerial = 0;
// Read serial data
//UART2_FlushRX_Spektrum();
}
// Toggle Red LED at 1Hz
if(loop.ToggleLED){
loop.ToggleLED = 0;
// Toggle LED
led_toggle(LED_RED);
}
} // End while(1)
}
