main.cpp

00001 // RoboCup dual-frequency band base station
00002 
00003 #include "BaseStation.h"
00004 
00005 uint8_t channel;
00006 
00007 // Function for writing a number to the 7-segment display
00008 void writeSegment(uint8_t val, DigitalOut& latch)
00009 {
00010     // Outputs used as input values to the 7-segment binary decoder - uses latching inputs
00011     DigitalOut signal[4] = { RJ_7_SEG_PINS };
00012 
00013     // write out the new value
00014     for (int i=0; i<4; i++)
00015         signal[i] = ((1<<i) & (val)) & 0x0F;
00016 
00017     // latch the value
00018     for (int i=0; i<2; i++)
00019         latch = !latch;
00020 }
00021 
00022 void seg_task(void const *arg)
00023 {
00024     // latch pin for 7-seg
00025     DigitalOut latch( RJ_7_SEG_LATCH_PIN, 0 );
00026 
00027     // Decimal point initialized to OFF
00028     DigitalOut decimal( RJ_7_SEG_DOT_PIN, 1 );
00029 
00030     channel = 8;
00031     writeSegment(channel, latch);
00032 
00033     // wait to be signaled before beginning
00034     osSignalWait(0x01, osWaitForever);
00035 
00036     // give a small delay to ensure the startup value stays lit for some time
00037     Thread::wait(500);
00038 
00039     // turn the decimal point off
00040     decimal = 0;
00041 
00042     while(1) {  // loop forever
00043         // send numerical value to 7-segment & hold for a while
00044         writeSegment(channel, latch);
00045         // channel = (channel > 9) ? 0 : channel; // reset value if too high
00046         Thread::wait(1000);
00047     }
00048 }
00049 
00050 int main()
00051 {
00052     // RGB Status LED
00053     PwmOut rgb_led[3] = { RJ_RGB_LED_PINS };
00054 
00055     // Primary radio status LEDs
00056     DigitalOut r1_led[3] = { RJ_PRIMARY_RADIO_LEDS };
00057 
00058     // Secondary radio status LEDs
00059     DigitalOut r2_led[3] = { RJ_SECONDARY_RADIO_LEDS };
00060 
00061     // Used for controlling power to the RGB LED's shared annode lead
00062     DigitalOut rgb_pwr( RJ_RGB_LED_ANNODE, 0 );
00063 
00064     // Start 7-segment task
00065     Thread thread_seg_task(seg_task);
00066 
00067     // turn all LEDs off initially - values are inverted since LEDs are sinking the current
00068     for (int i=0; i<3; i++) {
00069         rgb_led[i] = 1;
00070         r1_led[i] = 1;
00071         r2_led[i] = 1;
00072     }
00073 
00074     // =========== Cyle primary & secondary radio status LEDs ===========
00075     // turn on all radio status LEDs
00076     for (int i=0; i<3; i++) {
00077 
00078         // initialze off at the start of every iteration
00079         for(int j=0; j<3; j++) {
00080             r1_led[j] = 1;
00081             r2_led[j] = 1;
00082         }
00083 
00084         if (i != 2) {
00085             // cycle 2 LEDs
00086             for (int j=i; j<2; j++) {
00087                 r1_led[j] = 0;
00088                 r2_led[j] = 0;
00089                 Thread::wait(50);
00090             }
00091         } else {
00092             r1_led[i] = 0;
00093             r2_led[i] = 0;
00094             Thread::wait(50);
00095             r1_led[i] = 1;
00096             r2_led[i] = 1;
00097         }
00098     }
00099 
00100     // give power to all colors of the RGB LED and turn off decimal point
00101     rgb_pwr = 1;
00102 
00103     // 915MHz band radio object
00104     CC1101 cc1101(
00105         RJ_SPI_PINS,
00106         RJ_PRIMARY_RADIO_CS_PIN,
00107         RJ_PRIMARY_RADIO_LED_TX,
00108         RJ_PRIMARY_RADIO_LED_RX,
00109         RJ_PRIMARY_RADIO_INT_PIN
00110     );
00111 
00112     // set pointer for base class calls
00113     Radio *radio_p = &cc1101;
00114 
00115     channel = radio_p->channel();
00116     // tell the segment thread to begin its task
00117     thread_seg_task.signal_set(0x01);
00118 
00119     uint8_t color;
00120     if (radio_p->hasError()) {
00121         color = 0;
00122     } else {
00123         color = 1;
00124     }
00125 
00126     // fade the RGB LED up to the right status color at half power
00127     for (float i=1.0; i>0.5; i-=0.01) {
00128         rgb_led[color] = i;
00129         Thread::wait(20);
00130     }
00131 
00132 
00133 
00134     // loop forever ====================
00135     while(1) {
00136 
00137         //
00138 
00139         // delay
00140         Thread::wait(300);
00141     }
00142 }