/* 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 "print.h" #include "network.h" #include "position.h" #include "buttons.h" #include "motor.h" #include "laser.h" #include "servo.h" #include "led.h" #include "twi.h" #include "uid.h" #include "serial_ota.h" static uint8_t uid; void APL_TaskHandler(void) { switch (network_get_state()) { case APP_INITIAL_STATE: /* Init Led */ init_led(); /* get uid */ uid = get_uid(); /* Init Serial Interface for debug */ initSerialInterface(); /* Init network */ network_init(uid); if(get_device_type(uid) == DEVICE_TYPE_COORDINATOR) { position_init_struct(); twi_init_specific(); // trust_decrease_task(); start_codewheel_timer_task(); } else { buttons_init(); servo_init(); codewheel_init(); laser_init(); motor_init(); calibration_start_task(); calibration_start_manual_task(); motor_stop(); } network_set_state(APP_NETWORK_JOIN_REQUEST); break; case APP_NETWORK_JOIN_REQUEST: /* Activate the network status led blink */ led_start_blink(); /* St art network */ network_start(); network_set_state(APP_NETWORK_JOINING_STATE); case APP_NETWORK_JOINING_STATE: break; case APP_NETWORK_LEAVING_STATE: break; case APP_NETWORK_JOINED_STATE: led_stop_blink(); break; default: break; } SYS_PostTask(APL_TASK_ID); } int main(void) { SYS_SysInit(); for(;;) { SYS_RunTask(); } }