portTASK_FUNCTION(task_decawave, pvParameters) {
UNUSED(pvParameters);
int i = 0;
int toggle = 1;
int ranging = 0;
uint8 dataseq[40];
double range_result = 0;
double avg_result = 0;
uint8 dataseq1[40];
uint8 command = 0x0;
led_off(LED_ALL); //turn off all the LEDs
peripherals_init();
spi_peripheral_init();
Sleep(1000); //wait for LCD to power on
printf("DECAWAVE \r\n");
printf(SOFTWARE_VER_STRING);
printf("\r\n");
Sleep(1000);
port_DisableEXT_IRQ(); //disable ScenSor IRQ until we configure the device
printf("DECAWAVE RANGE\r\n");
led_off(LED_ALL);
int testresult = inittestapplication();
if (testresult < 0) {
led_on(LED_ALL); //to display error....
printf("ERROR\r\n");
printf("INIT FAIL %d\r\n", testresult);
for (;;) {
}
}
//sleep for 5 seconds displaying "Decawave"
i = 30;
while (i--) {
if (i & 1)
led_off(LED_ALL);
else
led_on(LED_ALL);
Sleep(200);
}
i = 0;
led_off(LED_ALL);
if (is_tag) {
instance_mode = TAG;
printf("TAG\r\n");
} else {
instance_mode = ANCHOR;
printf("ANCHOR\r\n");
#if (DR_DISCOVERY == 1)
printf("DR_DISCOVER == 1\r\n");
#else
printf("DR_DISCOVER == 0\r\n");
#endif
}
if (instance_mode == TAG) {
//if TA_SW1_2 is on use fast ranging (fast 2wr)
if (use_fast2wr) {
printf("Fast Tag Ranging\r\n");
} else {
printf("TAG BLINK %llX\r\n", instance_get_addr());
}
} else {
printf("AWAITING POLL\r\n");
}
port_EnableEXT_IRQ(); //enable ScenSor IRQ before starting
// main loop
while (1) {
//ERIC: Delay irq handling...will this work?
uint32_t bail = 0;
if (irq_set) {
do {
if (bail++ > 2000) {
printf("BAIL!\r\n");
Sleep(10);
for (;;) {
}
}
instance_process_irq(0);
} while (port_CheckEXT_IRQ() == 1);
irq_set = 0x00;
}
instance_run();
if (instancenewrange()) {
ranging = 1;
//send the new range information to LCD and/or USB
range_result = instance_get_idist();
#if (DR_DISCOVERY == 0)
if(instance_mode == ANCHOR)
#endif
avg_result = instance_get_adist();
//set_rangeresult(range_result);
printf("LAST: %4.2f m ", range_result);
#if (DR_DISCOVERY == 0)
if(instance_mode == ANCHOR)
printf("AVG8: %4.2f m", avg_result);
else
printf("%llx", instance_get_anchaddr());
#else
printf("AVG8: %4.2f m\r\n", avg_result);
#endif
}
if (ranging == 0) {
if (instance_mode != ANCHOR) {
if (instancesleeping()) {
if (toggle) {
printf("AWAITING RESPONSE\r\n");
} else {
toggle = 1;
printf("TAG BLINK %llX\r\n", instance_get_addr());
}
}
if (instanceanchorwaiting() == 2) {
ranging = 1;
printf("RANGING WITH %016llX\r\n", instance_get_anchaddr());
}
} else {
if (instanceanchorwaiting()) {
toggle += 2;
if (toggle > 300000) {
if (toggle & 0x1) {
toggle = 0;
printf("AWAITING POLL\r\n");
} else {
toggle = 1;
#if (DR_DISCOVERY == 1)
printf("DISCOVERY MODE ");
#else
printf("NON DISCOVERY ");
#endif
printf("%llX\r\n", instance_get_addr());
}
// print_status();
}
} else if (instanceanchorwaiting() == 2) {
printf("RANGING WITH %llX", instance_get_tagaddr());
}
}
}
}
}
int main(int argc, char *argv[])
{
fcs_dbm_variant_type_t local_variant = FCS_DBM_VARIANT_2FC_FREECELL;
const long delta_limit = 100000;
const int max_num_elements_in_cache = 8000000;
const char *filename = argv[1];
FILE *const fh = fopen(filename, "r");
if (fh == NULL)
{
fc_solve_err("Could not open file '%s' for input.\n", filename);
}
const fcs_user_state_str_t user_state = read_state(fh);
fcs_state_keyval_pair_t init_state_pair;
fc_solve_initial_user_state_to_c(
user_state.s, &init_state_pair, FREECELLS_NUM, STACKS_NUM, 1, NULL);
fcs_dbm_solver_instance_t instance;
instance_init(
&instance, local_variant, &init_state_pair, max_num_elements_in_cache);
#define LOG_FILENAME "fc-solve-pseudo-dfs.log.txt"
{
FILE *const last_line_fh = popen(("tail -1 " LOG_FILENAME), "r");
if (last_line_fh)
{
long count_num_processed;
if (fscanf(last_line_fh, "At %ld iterations Coords=[",
&count_num_processed) == 1)
{
instance__load_coords_from_fh(&instance, last_line_fh);
/*
* instance__inspect_new_state increments count_num_processed
* so let's set it after loading the coordinates.
* */
instance.count_num_processed = count_num_processed;
}
}
pclose(last_line_fh);
}
instance.max_count_num_processed =
instance.count_num_processed + delta_limit;
while (instance.max_count_num_processed % delta_limit != 0)
{
instance.max_count_num_processed +=
delta_limit - (instance.max_count_num_processed % delta_limit);
}
while (instance.should_terminate == DONT_TERMINATE)
{
instance_run(&instance);
FILE *const log_fh = fopen(LOG_FILENAME, "at");
instance__print_coords_to_log(&instance, log_fh);
fclose(log_fh);
instance.max_count_num_processed =
instance.count_num_processed + delta_limit;
}
if (instance.should_terminate == SOLUTION_FOUND_TERMINATE)
{
printf("%s\n", "Solution was found.");
}
else
{
printf("%s\n", "I could not solve it.");
}
instance_free(&instance);
return 0;
}
/**
* Application entry point.
*/
int main(void)
{
int prijem=0;
uint32 device_id;
/* Start with board specific hardware init. */
peripherals_init();
spi_peripheral_init();
Sleep(1000); //wait for LCD to power on
initLCD();
/* Display application name on LCD. */
setLCDline1( 234);
// Sleep(1000);
usb_init();
//Sleep(1000);
// lcd_display_str("connected");
/* Reset and initialise DW1000.
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
* performance. */
reset_DW1000(); /* Target specific drive of RSTn line into DW1000 low for a period. */
SPI_ChangeRate(SPI_BaudRatePrescaler_32);
// spi_set_rate_low();
// uint32 temp = dwt_read32bitoffsetreg(AON_ID,AON_WCFG_OFFSET);
dwt_initialise(DWT_LOADUCODE);
// dwt_configuresleepcnt(sleep16); //needed for LPL
// dwt_configuresleep(DWT_LOADUCODE | DWT_LOADOPSET | DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_WK | DWT_SLP_EN); //needed for LPL
SPI_ChangeRate(SPI_BaudRatePrescaler_4);
//spi_set_rate_high();
// dwt_configure(&config);
/* Loop forever receiving frames. */
/* while (1)
{
led_on(LED_ALL);
Sleep(100);
led_off(LED_ALL);
Sleep(100);
push_over_usb("nikola",6);
setLCDline1( 123);
}*/
s1switch = is_button_low(0) << 1 // is_switch_on(TA_SW1_2) << 2
| is_switch_on(TA_SW1_3) << 2
| is_switch_on(TA_SW1_4) << 3
| is_switch_on(TA_SW1_5) << 4
| is_switch_on(TA_SW1_6) << 5
| is_switch_on(TA_SW1_7) << 6
| is_switch_on(TA_SW1_8) << 7;
port_EnableEXT_IRQ();
while(1){
setLCDline1(123);
deca_sleep(1000);
device_id= inittestapplication(s1switch);
setLCDline1(instance_data[0].mode);
if(instance_mode == TAG){
setLCDline1(1);
}
else if(instance_mode==ANCHOR){
setLCDline1(2);
}
else {
setLCDline1(3);
}
deca_sleep(1000);
// instance_run();
//setLCDline1(message);
instance_run();
}
}
