void rf_send_byte (u8 byte) {
switch ( rf_get_status () ) {
case RF_STATUS_RXFIFO_OVERFLOW:
send_strobe (TI_CCxxx0_SFRX);
case RF_STATUS_TXFIFO_UNDERFLOW:
send_strobe (TI_CCxxx0_SFTX);
case RF_STATUS_IDLE:
send_strobe (TI_CCxxx0_SFSTXON);
while (rf_get_status() != RF_STATUS_FSTXON);
default:
tmp = 0;
while (tmp < 33) {
t3 = write_byte(TI_CCxxx0_TXFIFO,byte);
tmp++;
}
send_strobe (TI_CCxxx0_STX);
while (rf_get_status() == RF_STATUS_TX);
send_strobe (TI_CCxxx0_SFTX);
}
}
u8 rf_read_byte (void) {
switch ( rf_get_status () ) {
case RF_STATUS_RXFIFO_OVERFLOW:
send_strobe (TI_CCxxx0_SFRX);
case RF_STATUS_TXFIFO_UNDERFLOW:
send_strobe (TI_CCxxx0_SFTX);
default:
_latest_byte = 0;
// _new_data = 0;
send_strobe (TI_CCxxx0_SRX);
while (rf_get_status() != RF_STATUS_RX);
tmp = 0;
return _latest_byte;
}
}
/* Radio "interrupt" routine.
* (but it is only manually called) */
static void nrf_irq()
{
uint8_t status=rf_get_status();
// Transmission success
if(rf_is_tx_ds_active(status)) send_success = true; // Data has been sent
// Transmission failed (maximum re-transmits)
if(rf_is_max_rt_active(status)){
rf_flush_tx();
send_success = false;
}
// Data received
if(rf_is_rx_dr_active(status)){
rf_read_rx_payload(rcvd_buf,PAYLOAD_SIZE,NULL); //can be only one payload from host ack
packet_received = true;
}
}
int main(void)
{
int test_mode;
int vm_present;
int i;
unsigned int seed;
// Needs to be called ASAP as rf need a looooooong time to wake up.
// This function is just sending a pulse over the SCL line.
rf_wakeup();
clock_set_speed(16000000UL,16);
setup_pps();
setup_io();
leds_init();
CHARGE_500MA = 0; // Switch back to 100mA charge.
// Switch on one led to say we are powered on
leds_set(LED_BATTERY_0, 32);
// Enable the poweroff softirq.
_INT3IF = 0;
_INT3IP = 1;
_INT3IE = 1;
// Sound must be enabled before analog, as
// The analog interrupt callback into sound processing ...
// But must be initialised _after_ leds as it use one led IO for enabling amp.
sound_init();
tone_init(); // Init tone generator
pwm_motor_init();
pid_motor_init();
// We need the settings for the horizontal prox.
load_settings_from_flash();
for (i = 0; i < 2; i++) {
// Settings is definitely wrong....
if(settings.mot256[i] <= 0)
settings.mot256[i] = 256;
// 1024 (AD resolution is 10 bits) * 256 / 9 fits in signed 16 bits.
if (settings.mot256[i] < 9)
settings.mot256[i] = 9;
}
// This is the horizontal prox. Vertical one are handled by the ADC
// but ADC sync the motor mesurment with the prox, so we don't pullute it with noise ...
timer_init(TIMER_IR_COMM, 0,-1); // The period will be changed later.
prox_init(PRIO_SENSORS); // Same priority as analog (maybe should be at 7 ...)
// Warning: We cannot use the SD before the analog init as some pin are on the analog port.
analog_init(TIMER_ANALOG, PRIO_SENSORS);
wait_valid_vbat();
log_init(); // We will need to read vbat to be sure we can flash.
ntc_init(ntc_callback, PRIO_1KHZ);
// i2c_init(I2C_3);
i2c_init_master(I2C_3, 400000, PRIO_I2C);
I2C3CON = 0x9000;
mma7660_init(I2C_3, MMA7660_DEFAULT_ADDRESS, acc_cb, 0);
mma7660_set_mode(MMA7660_120HZ, 1);
rc5_init(TIMER_RC5, rc5_callback, PRIO_RC5);
sd_init();
timer_init(TIMER_1KHZ, 1000, 6);
timer_enable_interrupt(TIMER_1KHZ, timer_1khz, PRIO_1KHZ);
rf_init(I2C_3);
timer_enable(TIMER_1KHZ);
sd_log_file();
vm_present = init_aseba_and_fifo();
if(vm_present)
log_analyse_bytecode();
vmVariables.fwversion[0] = FW_VERSION;
vmVariables.fwversion[1] = FW_VARIANT;
// SD file is more important than internal flash
if(!sd_load_aseba_code()) {
log_set_flag(LOG_FLAG_VMCODESD);
vm_present = 1;
log_analyse_bytecode();
}
// Behavior is on INT4 (softirq trigged by 1khz timer).
behavior_init(PRIO_BEHAVIOR);
test_mode = sd_test_file_present();
if(!test_mode)
mode_init(vm_present);
// Enable the LVD interrupt
_LVDIE = 1;
play_sound(SOUND_POWERON);
if(test_mode) {
test_mode_start();
while(1)
idle_without_aseba();
}
while(behavior_enabled(B_MODE))
idle_without_aseba();
// If usb did not put us out of behavior mode, then start the rf link
if(!usb_uart_serial_port_open() && (rf_get_status() & RF_PRESENT)) {
rf_set_link(RF_UP);
}
// get the random seed
seed = 0;
for(i = 0; i < 5; i++) {
seed += vmVariables.buttons_mean[i];
seed += vmVariables.buttons_noise[i];
}
seed += vmVariables.vbat[0];
seed += vmVariables.vbat[1];
for(i = 0; i < 3; i++)
seed += vmVariables.acc[i];
AsebaSetRandomSeed(seed);
for(i = 0; i < 3; i++)
AsebaGetRandom();
// Give full control to aseba. No way out (except reset).
run_aseba_main_loop();
}
