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();
}
}
int main() {
// Processor Initialization
SetupClock();
SwitchClocks();
SetupPorts();
sclockSetup();
LED_1 = 1;
LED_2 = 1;
LED_3 = 1;
// Message Passing
fun_queue = carrayCreate(FUN_Q_LEN);
cmdSetup();
// Radio setup
radioInit(RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL);
radioSetSrcAddr(RADIO_SRC_ADDR);
radioSetSrcPanID(RADIO_PAN_ID);
uart_tx_packet = NULL;
uart_tx_flag = 0;
//uartInit(&cmdPushFunc);
tactileInit();
// Need delay for encoders to be ready
delay_ms(100);
amsEncoderSetup();
mpuSetup();
tiHSetup();
dfmemSetup();
telemSetup();
adcSetup();
pidSetup();
LED_1 = 0;
LED_3 = 1;
while(1){
// Send outgoing radio packets
radioProcess();
/*
// Send outgoing uart packets
if(uart_tx_flag) {
uartSendPacket(uart_tx_packet);
uart_tx_flag = 0;
}*/
checkTactileBuffer();
// move received packets to function queue
while (!radioRxQueueEmpty()) {
// Check for unprocessed packet
rx_packet = radioDequeueRxPacket();
if(rx_packet != NULL) {
cmdPushFunc(rx_packet);
}
}
// process commands from function queue
while(!carrayIsEmpty(fun_queue)) {
rx_packet = carrayPopHead(fun_queue);
unsigned int rx_src_addr = rx_packet->src_addr.val;
if(rx_packet != NULL) {
rx_payload = macGetPayload(rx_packet);
if(rx_payload != NULL) {
rx_function = (test_function)(rx_payload->test);
if(rx_function != NULL) {
LED_2 = ~LED_2;
(rx_function)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload), rx_src_addr);
}
}
ppoolReturnFullPacket(rx_packet);
}
}
}
return 0;
}
void xbeeHandleAt(Payload rx_pld)
{
unsigned char frame;
unsigned char length;
// unsigned char test;
//This should really be some sort of dynamic queue to be generalized
unsigned char bytes[10];
//unsigned short int command;
WordVal command;
WordVal data;
length = payGetPayloadLength(rx_pld);
frame = rx_pld->pld_data[0];
//test = rx_pld->pld_data[1];
//test = rx_pld->pld_data[2];
/*
command = rx_pld->pld_data[1];
command = command << 8;
command = command + rx_pld->pld_data[2];
*/
command.byte.HB = rx_pld->pld_data[1];
command.byte.LB = rx_pld->pld_data[2];
switch (command.val)
{
case AT_CHANNEL:
if (length != 3)
{
radioSetChannel(rx_pld->pld_data[3]);
}
if (frame != 0)
{
bytes[0] = radioGetChannel();
xbeeHandleATR(frame, command, bytes, 1);
}
break;
case AT_PAN_ID:
if (length != 3)
{
data.byte.HB = rx_pld->pld_data[3];
data.byte.LB = rx_pld->pld_data[4];
radioSetSrcPanID(data.val);
}
if (frame != 0)
{
data.val = (unsigned int)radioGetSrcPanID();
bytes[0] = data.byte.HB;
bytes[1] = data.byte.LB;
xbeeHandleATR(frame, command, bytes, 2);
}
break;
case AT_SRC_ADR:
if (length != 3)
{
data.byte.HB = rx_pld->pld_data[3];
data.byte.LB = rx_pld->pld_data[4];
radioSetSrcAddr(data.val);
}
if (frame != 0)
{
data.val = radioGetSrcAddr();
bytes[0] = data.byte.HB;
bytes[1] = data.byte.LB;
xbeeHandleATR(frame, command, bytes, 2);
}
break;
case AT_ACK_LAST:
if (frame != 0)
{
bytes[0] = 0;
bytes[1] = trxGetLastACKd();
xbeeHandleATR(frame, command, bytes, 2);
}
break;
case AT_SNIFFER:
if (length != 3)
trxSetPromMode(rx_pld->pld_data[3]); //Put radio in sniffer mode
break;
}
}
int main(void) {
//wakeTime = 0;
//dcCounter = 0;
// Processor Initialization
SetupClock();
SwitchClocks();
SetupPorts();
sclockSetup();
LED_1 = 0;
LED_2 = 0;
LED_3 = 0;
cmdSetup();
radioInit(RADIO_TXPQ_MAX_SIZE, RADIO_RXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL);
radioSetSrcPanID(RADIO_PAN_ID);
radioSetSrcAddr(RADIO_SRC_ADDR);
dfmemSetup();
uint64_t id = dfmemGetUnqiueID();
telemSetup(); //Timer 5, HW priority 4
mpuSetup();
imuSetup(); //Timer 4, HW priority 3
tiHSetup();
adcSetup();
//AMS Encoders
//encSetup();
//"Open Loop" vibration & jitter generator, AP 2014
//olVibeSetup();
legCtrlSetup(); //Timer 1, HW priority 5
steeringSetup(); //Timer 5, HW priority 4
//Tail control is a special case
//tailCtrlSetup();
//Camera is untested with current code base, AP 12/6/2012
//ovcamSetup();
LED_RED = 1; //Red is use an "alive" indicator
LED_GREEN = 0;
LED_YELLOW = 0;
//Radio startup verification
//if (phyGetState() == 0x16) {
// LED_GREEN = 1;
//}
//Sleeping and low power options
//_VREGS = 1;
//gyroSleep();
/////FUNCTION TEST, NOT FOR PRODUCTION
//olVibeStart();
////////////////////
while (1) {
cmdHandleRadioRxBuffer();
radioProcess();
}
}
