root / trunk / code / projects / diagnostic_station / robot / main.c @ 1313
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| 1 | 1159 | deffi | #include <dragonfly_lib.h> |
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| 2 | #include <wireless.h> |
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| 3 | #include <xbee.h> |
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| 4 | |||
| 5 | #include "../common/comm_station_robot.h" |
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| 6 | 1193 | emullini | #include "../../../lib/include/libdragonfly/encoders.h" |
| 7 | 1159 | deffi | |
| 8 | 1218 | deffi | |
| 9 | // **********************
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| 10 | // ** Command handlers **
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| 11 | // **********************
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| 12 | |||
| 13 | 1159 | deffi | static void message_set_orbs (int length, uint8_t *data) |
| 14 | {
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| 15 | if (length>=6) |
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| 16 | {
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| 17 | orbs_set (data[0], data[1], data[2], data[3], data[4], data[5]); |
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| 18 | } |
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| 19 | } |
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| 20 | |||
| 21 | static void message_set_motors (int length, uint8_t *data) |
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| 22 | {
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| 23 | if (length>=4) |
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| 24 | {
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| 25 | motor1_set (data[0], data[1]); |
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| 26 | motor2_set (data[2], data[3]); |
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| 27 | } |
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| 28 | } |
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| 29 | |||
| 30 | 1164 | deffi | static void message_set_motors_time (int length, uint8_t *data) |
| 31 | {
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| 32 | if (length>=6) |
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| 33 | {
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| 34 | motor1_set (data[0], data[1]); |
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| 35 | motor2_set (data[2], data[3]); |
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| 36 | delay_ms (WORD(data[4], data[5])); |
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| 37 | motors_off (); |
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| 38 | } |
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| 39 | } |
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| 40 | |||
| 41 | static void message_set_motors_off (int length, uint8_t *data) |
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| 42 | {
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| 43 | motors_off (); |
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| 44 | } |
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| 45 | |||
| 46 | 1159 | deffi | static void message_set_bom (int length, uint8_t *data) |
| 47 | {
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| 48 | if (length>=2) |
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| 49 | {
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| 50 | uint16_t bitmask=WORD(data[0], data[1]); |
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| 51 | |||
| 52 | bom_set_leds (bitmask); |
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| 53 | |||
| 54 | if (bitmask==0) |
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| 55 | bom_off (); |
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| 56 | else
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| 57 | bom_on (); |
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| 58 | } |
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| 59 | } |
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| 60 | |||
| 61 | 1219 | deffi | static void message_reset_encoders (int length, uint8_t *data) |
| 62 | {
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| 63 | SYNC |
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| 64 | {
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| 65 | encoder_rst_dx (LEFT); |
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| 66 | encoder_rst_dx (RIGHT); |
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| 67 | } |
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| 68 | } |
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| 69 | 1218 | deffi | |
| 70 | // **********************
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| 71 | // ** Request handlers **
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| 72 | // **********************
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| 73 | |||
| 74 | 1226 | deffi | static void message_read_encoders (int length, uint8_t *data) |
| 75 | 1218 | deffi | {
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| 76 | int16_t left, right; |
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| 77 | |||
| 78 | SYNC |
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| 79 | {
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| 80 | 1219 | deffi | left = encoder_get_dx (LEFT); |
| 81 | right = encoder_get_dx (RIGHT); |
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| 82 | 1218 | deffi | } |
| 83 | |||
| 84 | char senddata[4]; |
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| 85 | senddata[0]=WORD_BYTE_0 (left);
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| 86 | senddata[1]=WORD_BYTE_1 (left);
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| 87 | senddata[2]=WORD_BYTE_0 (right);
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| 88 | senddata[3]=WORD_BYTE_1 (right);
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| 89 | |||
| 90 | wl_send_global_packet (robot_station_group, robot_station_data_encoders, senddata, 4, 0); |
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| 91 | 1193 | emullini | } |
| 92 | |||
| 93 | 1263 | deffi | static void message_read_rangefinder (int length, uint8_t *data) |
| 94 | 1248 | emullini | {
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| 95 | int16_t value; |
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| 96 | int rangefinder_id = 0; |
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| 97 | |||
| 98 | switch(*data)
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| 99 | {
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| 100 | case 0: rangefinder_id = IR1; break; |
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| 101 | case 1: rangefinder_id = IR2; break; |
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| 102 | case 2: rangefinder_id = IR3; break; |
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| 103 | case 3: rangefinder_id = IR4; break; |
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| 104 | case 4: rangefinder_id = IR5; break; |
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| 105 | } |
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| 106 | |||
| 107 | value = range_read_distance(rangefinder_id); |
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| 108 | |||
| 109 | char senddata[2]; |
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| 110 | senddata[0] = WORD_BYTE_0 (value);
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| 111 | senddata[1] = WORD_BYTE_1 (value);
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| 112 | |||
| 113 | 1263 | deffi | wl_send_global_packet (robot_station_group, robot_station_data_rangefinder, senddata, 2, 0); |
| 114 | 1248 | emullini | |
| 115 | } |
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| 116 | |||
| 117 | 1258 | emullini | static void message_read_bom (int length, uint8_t *data){ |
| 118 | 1264 | emullini | int16_t value; |
| 119 | bom_refresh(BOM_ALL); |
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| 120 | 1270 | emullini | value = bom_get((*data)); |
| 121 | 1264 | emullini | char senddata[2]; |
| 122 | senddata[0] = WORD_BYTE_0 (value);
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| 123 | senddata[1] = WORD_BYTE_1 (value);
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| 124 | 1258 | emullini | |
| 125 | 1264 | emullini | wl_send_global_packet (robot_station_group, robot_station_data_bom, senddata, 2, 0); |
| 126 | 1258 | emullini | } |
| 127 | |||
| 128 | 1276 | emullini | static void message_read_bom_all(int length, uint8_t *data){ |
| 129 | 1282 | deffi | int16_t value; |
| 130 | 1276 | emullini | char senddata[32]; |
| 131 | 1282 | deffi | |
| 132 | 1276 | emullini | bom_refresh(BOM_ALL); |
| 133 | 1282 | deffi | |
| 134 | for(uint8_t i=0; i<16; ++i){ |
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| 135 | value=bom_get(i); |
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| 136 | senddata[2*i ] = WORD_BYTE_0 (value);
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| 137 | senddata[2*i+1] = WORD_BYTE_1 (value); |
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| 138 | 1276 | emullini | } |
| 139 | |||
| 140 | wl_send_global_packet(robot_station_group, robot_station_data_bom_all, senddata, 32, 0); |
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| 141 | } |
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| 142 | |||
| 143 | 1303 | abuchan | static void message_read_eeprom(int length, uint8_t *data) |
| 144 | {
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| 145 | char senddata[2]; |
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| 146 | senddata[0] = get_robotid();
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| 147 | senddata[1] = get_bom_type();
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| 148 | |||
| 149 | wl_send_global_packet (robot_station_group, robot_station_data_eeprom, senddata, 2, 0); |
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| 150 | } |
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| 151 | |||
| 152 | 1226 | deffi | // ***************************
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| 153 | // ** Message acknowledging **
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| 154 | // ***************************
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| 155 | 1218 | deffi | |
| 156 | 1244 | deffi | static void send_done (void) |
| 157 | 1226 | deffi | {
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| 158 | wl_send_global_packet (robot_station_group, robot_station_done, NULL, 0, 0); |
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| 159 | } |
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| 160 | |||
| 161 | 1218 | deffi | // ***********************
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| 162 | // ** Receive callbacks **
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| 163 | // ***********************
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| 164 | |||
| 165 | static void station_robot_receive (char type, int source, unsigned char* packet, int length) |
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| 166 | 1159 | deffi | {
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| 167 | 1218 | deffi | orb_set (0, 0, 255); |
| 168 | |||
| 169 | usb_puti (type); |
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| 170 | 1220 | deffi | usb_puts (" [");
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| 171 | for (uint8_t i=0; i<length; ++i) |
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| 172 | {
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| 173 | if (i!=0) usb_putc (' '); |
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| 174 | usb_puti (packet[i]); |
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| 175 | } |
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| 176 | usb_puts ("]\r\n");
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| 177 | 1218 | deffi | |
| 178 | 1159 | deffi | switch (type)
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| 179 | {
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| 180 | 1218 | deffi | // Command messages
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| 181 | 1226 | deffi | case station_robot_set_orbs: message_set_orbs (length, packet); send_done (); break; |
| 182 | case station_robot_set_motors: message_set_motors (length, packet); send_done (); break; |
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| 183 | case station_robot_set_bom: message_set_bom (length, packet); send_done (); break; |
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| 184 | case station_robot_set_motors_off: message_set_motors_off (length, packet); send_done (); break; |
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| 185 | case station_robot_set_motors_time: message_set_motors_time (length, packet); send_done (); break; |
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| 186 | case station_robot_reset_encoders: message_reset_encoders (length, packet); send_done (); break; |
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| 187 | 1218 | deffi | |
| 188 | // Request messages
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| 189 | 1263 | deffi | case station_robot_read_encoders: message_read_encoders (length, packet); break; |
| 190 | case station_robot_read_rangefinder: message_read_rangefinder (length, packet); break; |
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| 191 | case station_robot_read_bom: message_read_bom (length, packet); break; |
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| 192 | 1276 | emullini | case station_robot_read_bom_all: message_read_bom_all (length, packet); break; |
| 193 | 1303 | abuchan | case station_robot_read_eeprom: message_read_eeprom(length, packet); break; |
| 194 | 1159 | deffi | } |
| 195 | 1218 | deffi | |
| 196 | orb_set (255, 127, 0); |
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| 197 | 1159 | deffi | } |
| 198 | |||
| 199 | 1218 | deffi | // **********
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| 200 | // ** Main **
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| 201 | // **********
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| 202 | 1159 | deffi | |
| 203 | int main(void) { |
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| 204 | 1220 | deffi | dragonfly_init(ALL_ON); |
| 205 | 1226 | deffi | encoders_init (); |
| 206 | 1159 | deffi | |
| 207 | 1267 | deffi | analog_init (ADC_START); |
| 208 | 1271 | deffi | //bom_init ();
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| 209 | 1267 | deffi | |
| 210 | 1159 | deffi | usb_init (); |
| 211 | usb_puts ("Diagnostic station robot starting up\r\n");
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| 212 | |||
| 213 | 1220 | deffi | orb1_set (255, 127, 0); |
| 214 | 1159 | deffi | xbee_init (); |
| 215 | wl_init(); |
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| 216 | 1313 | deffi | // xbee_set_channel(15);
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| 217 | 1159 | deffi | orb2_set (255, 127, 0); |
| 218 | |||
| 219 | 1218 | deffi | usb_puts ("PAN ID: "); usb_puti (xbee_get_pan_id ()); usb_puts ("\r\n"); // -1 |
| 220 | usb_puts ("Channel: "); usb_puti (xbee_get_channel ()); usb_puts ("\r\n"); // 0 |
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| 221 | usb_puts ("Address: "); usb_puti (xbee_get_address ()); usb_puts ("\r\n"); // 4/8 |
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| 222 | 1159 | deffi | |
| 223 | PacketGroupHandler receive_handler = {station_robot_group, NULL, NULL, &station_robot_receive, NULL};
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| 224 | wl_register_packet_group(&receive_handler); |
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| 225 | |||
| 226 | while (1) |
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| 227 | {
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| 228 | wl_do(); |
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| 229 | } |
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| 230 | } |