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#34 Changing the flags logic in the infinite loop
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@trifuns
trifuns committed Jun 22, 2022
1 parent 8f1e3b9 commit a2cce8f
Showing 1 changed file with 38 additions and 37 deletions.
75 changes: 38 additions & 37 deletions projects/03app_us_ranging/03app_us_ranging.c
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Original file line number Diff line number Diff line change
Expand Up @@ -141,6 +141,7 @@ int main(void) {
}

//TODO disable int
//__disable_irq();
// handle and clear the event flags
switch(app_vars.state) {
/*
Expand All @@ -158,38 +159,38 @@ int main(void) {
* ranging of all robots at the same time
* with given offset
*/
case RANGE_ALL:
switch (app_vars.flag) {
case APP_FLAG_RADIO_RX: // check if the Robot received a packet from the Gateway
if (app_vars.radio_mode == RADIO_Rx) {
db_radio_rx_disable(); // Disable the radio
app_vars.radio_mode = RADIO_Idle; // Set the radio mode to Idle
}
break;
case APP_FLAG_US_DONE: // check if we have a new US reading
//TODO START RTC
app_vars.radio_mode = RADIO_Tx; // set the Radio mode to Tx
hc_sr04_stop(); // stop the ranging we already have a measurement
db_radio_tx(app_vars.packet_tx, NUMBER_OF_BYTES_IN_PACKET); // send the US reading with ROBOT ID to Gateway
memset(app_vars.packet_tx, 0, sizeof(app_vars.packet_tx)); // clear the buffer

db_radio_rx_enable(); // enable the Radio packet reception
app_vars.radio_mode = RADIO_Rx; // set the Radio mode to Rx

break;
case APP_FLAG_RTC: // ready to send a packet with US measurement
if (app_vars.radio_mode == RADIO_Tx) {
//db_radio_tx(app_vars.packet_tx, NUMBER_OF_BYTES_IN_PACKET);
app_vars.radio_mode = RADIO_Rx;
//TODO
}
break;
default:
break;
}
//TODO
case RANGE_ALL:
// check if a Robot has received a packet from the Gateway
if((app_vars.flag & APP_FLAG_RADIO_RX) && (app_vars.radio_mode == RADIO_Rx)) {
db_radio_rx_disable(); // Disable the radio
app_vars.radio_mode = RADIO_Idle; // Set the radio mode to Idle
app_vars.flag &= ~APP_FLAG_RADIO_RX; // Clear the flag
}
// check if we have a new US reading
if(app_vars.flag & APP_FLAG_US_DONE) {
//TODO START RTC
app_vars.radio_mode = RADIO_Tx; // set the Radio mode to Tx

hc_sr04_stop(); // stop the ranging we already have a measurement

db_radio_tx(app_vars.packet_tx, NUMBER_OF_BYTES_IN_PACKET); // send the US reading with ROBOT ID to Gateway
memset(app_vars.packet_tx, 0, sizeof(app_vars.packet_tx)); // clear the buffer

db_radio_rx_enable(); // enable the Radio packet reception
app_vars.radio_mode = RADIO_Rx; // set the Radio mode to Rx
app_vars.flag &= ~APP_FLAG_US_DONE; // Clear the flag

}
// ready to send a packet with US measurement
if((app_vars.flag & APP_FLAG_RTC) && (app_vars.radio_mode == RADIO_Tx)) {

//db_radio_tx(app_vars.packet_tx, NUMBER_OF_BYTES_IN_PACKET);
app_vars.radio_mode = RADIO_Rx;
app_vars.flag &= ~APP_FLAG_RTC; // Clear the flag
//TODO

}

break; // RANGE ALL case break
/*
* RANGE_PAIR is the mode of the app where the gateway allows the
Expand All @@ -203,10 +204,9 @@ int main(void) {
// stop ranging
hc_sr04_stop();
break;
}
// clear flag
app_vars.flag = 0x00;
}
//TODO enable int
//__enable_irq();
}
// one last instruction, doesn't do anything, it's just to have a place to put a breakpoint.
__NOP();
Expand All @@ -228,7 +228,7 @@ void radio_callback(uint8_t *packet, uint8_t length) {
if((app_vars.radio_mode == RADIO_Rx) && (packet[0] == GATEWAY_ID)) {

// set the flag for the packet reception
app_vars.flag = APP_FLAG_RADIO_RX;
app_vars.flag |= APP_FLAG_RADIO_RX;

// check the mode of operation sent by the Gateway
switch (packet[1]) {
Expand All @@ -247,6 +247,7 @@ void radio_callback(uint8_t *packet, uint8_t length) {
}

if (app_vars.state == RANGE_ALL) {
app_vars.trigger_offset_ms = 0;

app_vars.trigger_offset_ms = packet[2] ;
app_vars.trigger_offset_ms |= packet[3] << 8;
Expand All @@ -271,7 +272,7 @@ void radio_callback(uint8_t *packet, uint8_t length) {
void us_callback(uint32_t us_reading) {

// set the flag indicating that we got a new US measurement
app_vars.flag = APP_FLAG_US_DONE;
app_vars.flag |= APP_FLAG_US_DONE;

// prepare the packet to send to a gateway
app_vars.packet_tx[0] = ROBOT_ID;
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