antorcha/fw/antorcha.c

/*
 * fw/antorcha.c - Initialization of Antorcha application firmware
 *
 * Written 2012 by Werner Almesberger
 * Copyright 2012 Werner Almesberger
 *
 * 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.
 */


#include <stddef.h>
#include <stdint.h>

#include "rf.h"
#include "dispatch.h"
#include "sweep.h"
#include "accel.h"
#include "image.h"


static struct sweep sweep = {
	.wait_ticks	=	100000,	/* 100 ms */
	.pixel_ticks	=	  5000,	/*   5 ms */
	.left		=	     0,
	.right		= MAX_LINES-1,
	.forward 	=	     1,
};


static const struct handler *protos[] = {
	&image_handler,
	&reset_handler,
	&sample_handler,
	NULL
};


int main(void)
{
	uint8_t buf[PAYLOAD+5]; /* 3 bytes header, 2 bytes CRC */
	uint8_t got;

	/*
	 * The boot loader has already initialized PORTx,  DDRx, and MCUCR.PUD.
	 * It has also brought up RF and the underlying SPI.
	 */

	sweep_init();
	accel_start();

	while (1) {
		got = rf_recv(buf, sizeof(buf));
		if (got > 2)
			dispatch(buf, got-2, protos);
		if (!sweeping)
			sweep_image(&sweep);
	}
}