/* main_avr.c */ /* Beacon State Machine & Main. {{{ * * Copyright (C) 2012 Florent Duchon * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include #include #include "configuration.h" #include "twi_specific.h" #include "calibration.h" #include "codewheel.h" #include "debug_avr.h" #include "network.h" #include "position.h" #include "motor.h" #include "laser.h" #include "servo.h" #include "led.h" #include "twi.h" // Application related parameters AppState_t appState = APP_INITIAL_STATE; // application state #ifdef TYPE_COOR DeviceType_t deviceType = DEVICE_TYPE_COORDINATOR; #else DeviceType_t deviceType = DEVICE_TYPE_END_DEVICE; #endif void APL_TaskHandler(void) { switch (appState) { case APP_INITIAL_STATE: /* Init Led */ init_led(); /* Init Serial Interface for debug */ initSerialInterface(); switch(deviceType) { case DEVICE_TYPE_COORDINATOR: position_init_struct(); twi_init_specific(); trust_decrease_task(); start_codewheel_timer_task(); network_init(); // debug_start_stop_task(); uprintf("coord initialisation OK !%d\n\r",(int)0); break; case DEVICE_TYPE_END_DEVICE: servo_init(); codewheel_init(); laser_init(); network_init(); // motor_init(); uprintf("LOL_%d initialisation OK !\n\r",CS_NWK_ADDR); // calibration_start_task(); motor_stop(); break; default: break; } appState = APP_NETWORK_JOIN_REQUEST; break; case APP_NETWORK_JOIN_REQUEST: network_start(); appState = APP_NETWORK_JOINING_STATE; case APP_NETWORK_JOINING_STATE: break; case APP_NETWORK_LEAVING_STATE: break; case APP_NETWORK_JOINED_STATE: break; default: break; } SYS_PostTask(APL_TASK_ID); } int main(void) { SYS_SysInit(); for(;;) { SYS_RunTask(); } }