main.cpp

00001 #include "robot.h"
00002 
00003 // Create a file system if needed for writing startup information to the boot log
00004 #if RJ_BOOT_LOG
00005 LocalFileSystem local("local");     // Create the local filesystem object
00006 #endif
00007 DigitalOut led1(LED1);
00008 DigitalOut led2(LED2);
00009 DigitalOut led3(LED3);
00010 DigitalOut led4(LED4);
00011 
00012 Serial pc(USBTX, USBRX);
00013 
00014 // Sets the mbed's baudrate for debugging purposes
00015 void baud(int baudrate)
00016 {
00017     Serial s(USBTX, USBRX);
00018     s.baud(baudrate);
00019 }
00020 
00021 // Main program operations =======================
00022 int main()
00023 {
00024     led4 = 0;
00025 // Set the baud rate
00026     baud(57600);
00027 
00028 // Check the mbed's firmware if enabled
00029 #if RJ_CHECK_FIRMWARE
00030     std::string firmware;
00031     firmware_version(firmware);  // this is from FirmwareHelper.h
00032     LOG("Firmware Version: %s\r\n", firmware.c_str());
00033 
00034 // Write any errors to a log file if enabled
00035 #if RJ_BOOT_LOG
00036     LOG("Begin logging\r\n");
00037 #endif
00038 
00039 #endif
00040 
00041     DigitalOut temppp(RJ_PRIMARY_RADIO_INT, 1);
00042 
00043 // Create a new physical hardware communication link
00044     CC1101 radio_900(
00045         RJ_SPI_BUS,
00046         RJ_PRIMARY_RADIO_CS,
00047         RJ_PRIMARY_RADIO_INT
00048     );
00049 
00050 // Create a Communication Module Object
00051     CommModule comm;
00052 
00053     radio_900.setModule(comm);
00054 
00055     comm.TxHandler((CommLink*)&radio_900, &CommLink::sendPacket, 8);
00056     comm.openSocket(8);
00057 
00058 // Open a socket for the Communication Module. Give it a port number and a function to call when a packet of that port number is received
00059     led3 = 1;
00060 
00061 // Create a dummy packet that is set to send out from socket connection 8
00062     RTP_t dummy_packet;
00063     for (int i=0; i<20; i++)
00064         dummy_packet.data[i] = i;
00065 
00066     dummy_packet.data_size = 20;
00067     dummy_packet.port = 8;
00068     dummy_packet.subclass = 1;
00069 
00070 
00071 // Enable watchdog timer
00072 //Watchdog watchdog;
00073 //watchdog.set(RJ_WATCHDOG_TIMER_VALUE);
00074 
00075     led1 = 0;
00076 
00077     while(1) {
00078         led1 = !led1;
00079         //radio_900.status();
00080         //comm.send(dummy_packet);
00081         osDelay(500);
00082 
00083     }
00084 }