/**********************************************************************
* Function: initializeAtlas
* @return None.
* @remark Initializes the boat's master state machine and all modules.
* @author David Goodman
* @date 2013.04.24
**********************************************************************/
static void initializeAtlas() {
Board_init();
Serial_init();
Timer_init();
#ifdef USE_DRIVE
Drive_init();
#endif
// I2C bus
I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
#ifdef USE_TILTCOMPASS
TiltCompass_init();
#endif
#ifdef USE_GPS
GPS_init();
#endif
#ifdef USE_NAVIGATION
Navigation_init();
#endif
#ifdef USE_OVERRIDE
Override_init();
#endif
#ifdef USE_BAROMETER
Barometer_init();
Timer_new(TIMER_BAROMETER_SEND, BAROMETER_SEND_DELAY);
#endif
// Start calibrating before use
startSetOriginSM();
Timer_new(TIMER_HEARTBEAT, HEARTBEAT_SEND_DELAY);
Mavlink_sendStatus(MAVLINK_STATUS_ONLINE);
}
int main(void) {
// Initialize the UART, Timers, and I2C
Board_init();
Serial_init();
Timer_init();
Override_init();
printf("Override board initialized.\n");
while(1){
if (inOverride && !Override_isTriggered()) {
inOverride = FALSE;
printf("Override disabled.\n");
}
else if (!inOverride && Override_isTriggered()) {
inOverride = TRUE;
printf("Override enabled.\n");
}
}
return (SUCCESS);
}
int main(){
//Initializations
Board_init();
Serial_init();
Timer_init();
Drive_init();
int spd = 10;
ENABLE_OUT_TRIS = OUTPUT; //Set Enable output pin to be an output, fed to the AND gates
ENABLE_OUT_LAT = MICRO; //Initialize control to that of Microcontroller
enum{
MICRO_FORWARD = 0x01, //State where Microcontroller is driving forward
MICRO_STOP = 0x02, //State where Micro is driving backwards
MICRO_LIMBO = 0x03,
RECIEVER_STATE = 0x04, //Reciever has taken over state
}test_state;
printf("Boat is Initialized\n");
//Initialize the state to begin at forward
test_state = MICRO_FORWARD;
Drive_stop();
Timer_new(TIMER_TEST,RECIEVER_DELAY);
int state_flag = 0;
Override_init();
while(1){
switch(test_state){
case MICRO_FORWARD:
printf("STATE: MICRO_FORWARD\n\n\n");
Drive_forward(spd); //The input param is a pwm duty cycle percentage that gets translated to a RC Servo time pulse
Timer_new(TIMER_TEST2,RECIEVER_DELAY);
test_state = MICRO_STOP;
break;
case MICRO_STOP:
if(Timer_isExpired(TIMER_TEST2)){
printf("STATE: MICRO_STOP\n\n\n:");
Drive_stop();
Timer_new(TIMER_TEST2,RECIEVER_DELAY);
test_state = MICRO_LIMBO;
}
break;
case MICRO_LIMBO:
if(Timer_isExpired(TIMER_TEST2)){
printf("STATE: MICRO_LIMBO\n\n\n");
test_state = MICRO_FORWARD;
}
Drive_stop();
break;
case RECIEVER_STATE:
;
break;
}
//If we got a pulse, control to reciever.
if (OVERRIDE_TRIGGERED == TRUE){
printf("Reciever Control\n\n");
Timer_new(TIMER_TEST, 1000); //Set timer that is greater than the pulsewidth of the CH3 signal(54Hz)
OVERRIDE_TRIGGERED = FALSE; //Re-init to zero so that we know when our pulse is triggered again.
test_state = RECIEVER_STATE; //Set state equal to reciever where we do nothing autonomous
ENABLE_OUT_LAT = RECIEVER; //Give control over to Reciever using the enable line
INTEnable(INT_CN,1);
}
if (Timer_isExpired(TIMER_TEST)){ //Reciever gave up control
printf("Micro Has Control\n\n");
Timer_clear(TIMER_TEST); //Clear timer so that it doesn't keep registering an expired signal
test_state = MICRO_LIMBO; //Set state equal to forward for regular function
OVERRIDE_TRIGGERED = FALSE; //Set Override to false to be sure that we don't trigger falsely
ENABLE_OUT_LAT = MICRO; //Give Control back to microcontroller using enable line
Timer_new(TIMER_TEST2, RECIEVER_DELAY);
}
}
}
