int main(void) {
WordVal src_addr_init = {SRC_ADDR};
WordVal src_pan_id_init = {SRC_PAN_ID};
WordVal dst_addr_init = {DST_ADDR};
SetupClock();
SwitchClocks();
SetupPorts();
batSetup();
swatchSetup();
radioInit(src_addr_init, src_pan_id_init, RXPQ_MAX_SIZE, TXPQ_MAX_SIZE);
radioSetChannel(MY_CHAN); //Set to my channel
macSetDestAddr(dst_addr_init);
dfmemSetup();
unsigned char memsize;
memsize = dfmemGetChipSize();
xlSetup();
gyroSetup();
mcSetup();
cmdSetup();
//senSetup();
adcSetup();
pidSetup();
steeringSetup();
//radioReadTrxId(id);
LED_RED = 1;
LED_BLUE = 0;
LED_YELLOW = 0;
//while(1);
if(phyGetState() == 0x16) { LED_GREEN = 1; }
//print("Ready");
//readDFMemBySample(5);
while(1) {
cmdHandleRadioRxBuffer();
//Simple idle ; reduces idle current to 70 mA
// TODO (abuchan, apullin, fgb) : Idle() causes unexpected behavior
//if(radioIsRxQueueEmpty()){
// Idle();
//}
}
}
void rgltrSetup(float ts) {
is_ready = 0;
reg_state = REG_OFF;
mcSetup(); // Set up motor driver
yawPid = ctrlCreatePidParams(ts);
if(yawPid == NULL) { return; }
pitchPid = ctrlCreatePidParams(ts);
if(pitchPid == NULL) { return; }
rollPid = ctrlCreatePidParams(ts);
if(rollPid == NULL) { return; }
yawRateFilter = NULL;
pitchRateFilter = NULL;
rollRateFilter = NULL;
is_ready = 1;
}
int main (void)
{
unsigned int i;
/* Initialization */
SetupClock();
SetupPorts();
batSetup();
cmdSetup();
mcSetup();
SetupADC();
SwitchClocks();
sclockSetup();
radioInit(TXPQ_MAX_SIZE, RXPQ_MAX_SIZE);
radioSetChannel(MY_CHAN);
radioSetSrcPanID(PAN_ID);
radioSetSrcAddr(SRC_ADDR);
dfmemSetup();
camSetup();
cambuffSetup();
gyroSetup();
cmdResetSettings();
for (i = 0; i < 6; i++)
{
LED_GREEN = ~LED_GREEN; delay_ms(50);
LED_RED = ~LED_RED; delay_ms(50);
LED_ORANGE = ~LED_ORANGE; delay_ms(50);
}
LED_GREEN = 0; LED_RED = 0; LED_ORANGE = 0;
/* Program */
while (1)
{
cmdHandleRadioRxBuffer();
radioProcess();
}
}
