Revision f115416e
| ID | f115416e5ddb587db82174a69a40955b31973a99 |
Added initial BOM code
Only the sending code has been tested; receiving will soon be tested as
well.
| scout_avr/src/main.cpp | ||
|---|---|---|
| 42 | 42 |
|
| 43 | 43 |
#include "Atmega128rfa1.h" |
| 44 | 44 |
#include "range.h" |
| 45 |
#include "bom.h" |
|
| 45 | 46 |
|
| 46 | 47 |
int main() |
| 47 | 48 |
{
|
| 48 | 49 |
char buf[20]; |
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int i; |
|
| 49 | 51 |
unsigned long now, next = 0; |
| 50 | 52 |
Atmega128rfa1 avr; |
| 51 | 53 |
avr.init(); |
| 52 | 54 |
range_init(); |
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bom_init(); |
|
| 56 |
set_robot_id(0x2a); |
|
| 53 | 57 |
while (1) |
| 54 | 58 |
{
|
| 55 | 59 |
now = avr.time(); |
| 56 | 60 |
if (now > next) {
|
| 57 | 61 |
next = now + 100; |
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utoa(range_get(0), buf, 10); |
|
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avr.write((uint8_t*) buf, strlen(buf)); |
|
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avr.write((uint8_t*) ", ", 2); |
|
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/*utoa(range_get(0), buf, 10); |
|
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avr.puts("Range: ");
|
|
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avr.puts(buf); |
|
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avr.puts(", ");
|
|
| 61 | 66 |
utoa(range_get(1), buf, 10); |
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avr.write((uint8_t*) buf, strlen(buf)); |
|
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/*int data = avr.read(); |
|
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if (data >= 0) |
|
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{
|
|
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uint8_t data8 = data; |
|
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avr.write((uint8_t*) "Received ", 9); |
|
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avr.write(&data8, 1); |
|
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avr.puts(buf);*/ |
|
| 68 |
for (i = 0; i < 4; i++) {
|
|
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bom_send(i); |
|
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int msg = bom_get(i); |
|
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if (msg != BOM_NO_DATA) {
|
|
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avr.puts("BOM ");
|
|
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itoa(i, buf, 10); |
|
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avr.puts(buf); |
|
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avr.puts(": ");
|
|
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itoa(msg, buf, 10); |
|
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avr.puts(buf); |
|
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} |
|
| 69 | 79 |
} |
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else |
|
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avr.write((uint8_t*) ".", 1);*/ |
|
| 72 |
avr.write((uint8_t*) "\r\n", 2); |
|
| 80 |
avr.puts("\r\n");
|
|
| 73 | 81 |
} |
| 74 | 82 |
} |
| 75 | 83 |
return 0; |
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