void SendPack_Camera(int father, int child, uint8 *camerabuff, int camera_size)
{
char buffer[DATA_PACKET];
char buff_end[DATA_PACKET];
char tmpbuff[10];
int count_i = 0;
//============================================
buffer[count_i++]='0';
buffer[count_i++]='#';
buffer[count_i++]='|';
buffer[count_i++]=48 + father;
buffer[count_i++]='|';
buffer[count_i++]=48 + child;
buffer[count_i++]='|';
//CCD发送格式
sprintf(tmpbuff, "(80+60)");
strcat(buffer, tmpbuff);
count_i += strlen(tmpbuff);
buffer[count_i++]='\0';
buffer[0]=strlen(buffer) - 1;
//NRF send buffer
if(buffer[0] < 31)
{
if(nrf_tx((uint8*)buffer, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
}
else
{
printf("in NRF_DIY.c of \"SendPack_Short\" is overflow!!");
}
//Camera数据的发送
SendPack_Long(camerabuff, camera_size, 31);
count_i = 0;
buff_end[count_i++]=1;
buff_end[count_i++]='|';
buff_end[count_i++]='$';
buff_end[count_i++]='\0';
buff_end[0]=strlen(buff_end) - 1;
if(nrf_tx((uint8*)buff_end, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
}
//data--要发送的数据 ；actualLen--需要发送数据的长度；sendlen，一次性发送的长度 (定值)：DATA_PACKET - 1 = 31
void SendPack_Long(unsigned char *data, int actualLen, int sendlen)
{
//test
//int count = 0;
//=====
uint8 buffer[DATA_PACKET] = {0};
if (data != NULL && sendlen < DATA_PACKET)
{
//int send_length = strlen((char*)data);
for (int i = 0; i < actualLen; i++)
{
buffer[i % sendlen + 1] = data[i];
if ((i% sendlen + 1== sendlen))
{
buffer[0] = sendlen;
if(nrf_tx(buffer, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
memset(buffer, 0, sizeof(buffer) / sizeof(char));
}
if ((i == actualLen - 1) && actualLen%sendlen != 0)
{
//添加结束符？
buffer[0] = i % sendlen + 1;
if(nrf_tx(buffer, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
memset(buffer, 0, sizeof(buffer) / sizeof(char));
}
//Do your job here
//Dosomething();
}
}
else
{
//reporte an error
}
}
//value全部放大1000倍后回发电脑；（float报错也是醉了————万恶的IAR）
void SendPack_Short(int father, int child, float value, int hasHead, int hasEnd)
{
char buffer[DATA_PACKET];
char value_string[20];
int count_i = 0;
sprintf(value_string, "%4d|", (int)(1000*value));
buffer[count_i++]='0';
if(hasHead) //设置是否需要加数据头
buffer[count_i++]='#';
buffer[count_i++]='|';
if(father > 10)
{
buffer[count_i++]=48 + father/10;
buffer[count_i++]=48 + father%10;
}
else
{
buffer[count_i++]=48 + father;
}
buffer[count_i++]='|';
//child 为两位，分情况进行添加
if(child > 10)
{
buffer[count_i++]=48 + child/10;
buffer[count_i++]=48 + child%10;
}
else
{
buffer[count_i++]=48 + child;
}
buffer[count_i++]='|';
buffer[count_i++]='\0';
strcat(buffer, value_string);
if(hasEnd) //添加结束符
strcat(buffer, "$");
buffer[0]=strlen(buffer)-1;
//printf("%d---%s", (int)buffer[0], buffer);
if(buffer[0] < 31)
{
if(nrf_tx((uint8*)buffer, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
}
else
{
printf("in NRF_DIY.c of \"SendPack_Short\" is overflow!!");
}
}
//发送命令。前两个字节用在命令识别，后面就是需要传输的内容
nrf_result_e nrf_msg_tx(com_e com, uint8 *sendbuf)
{
ASSERT(com < COM_MAX); //命令不能超过最大的数目
//把命令写进数据缓冲区
sendbuf[0] = com;
sendbuf[1] = ~com;
sendbuf[nrf_com_size[com] + 2 * COM_LEN - 2] = ~com;
sendbuf[nrf_com_size[com] + 2 * COM_LEN - 1] = com;
while( !nrf_tx(sendbuf , nrf_com_size[com] + 2 * COM_LEN)); //发送数据
return NRF_RESULT_NULL;
}
//value全部放大1000倍后回发电脑；（float报错也是醉了————万恶的IAR）
void SendPack_Echo(int father, int child, char *sendACK)
{
char buffer[DATA_PACKET];
int count_i = 0;
buffer[count_i++]='0';
buffer[count_i++]='#';
buffer[count_i++]='|';
if(father > 10)
{
buffer[count_i++]=48 + father/10;
buffer[count_i++]=48 + father%10;
}
else
{
buffer[count_i++]=48 + father;
}
buffer[count_i++]='|';
//child 为两位，分情况进行添加
if(child > 10)
{
buffer[count_i++]=48 + child/10;
buffer[count_i++]=48 + child%10;
}
else
{
buffer[count_i++]=48 + child;
}
buffer[count_i++]='|';
buffer[count_i++]='\0';
strcat(buffer, sendACK);
strcat(buffer, "|$");
buffer[0]=strlen(buffer)-1;
//printf("%d---%s", (int)buffer[0], buffer);
if(buffer[0] < 31)
{
if(nrf_tx((uint8*)buffer, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
}
else
{
printf("in NRF_DIY.c of \"SendPack_Short\" is overflow!!");
}
}
int main (void)
{
unsigned char AP;
unsigned char i = 0,bit;
flag = RX;
AP = 0;
//若为第一个节点则AP = 0，第二个节点AP = 1
if (AP == 1)
{
for (i = 0; i< TX_ADR_WIDTH; i++)
{
TX_ADDRESS[i] = TX_AP0[i];
}
}
init_uart (BAUD_SETTING);
stdout = &mystdout;
SPI_Init ();
for (i = 0; i < 32; i++)
{
tx_buf[i] = 0xff;
}
while (1)
{
if (flag==RX)
{
bit = nrf_rx (TX_ADDRESS);
if (bit)
{
printf ("the data are: \n");
for (i = 0; i < 32; i++)
{
printf ("%4d", rx_buf[i]);
rx_buf[i] = '\0';
if ((i+1) % 10 == 0)
printf ("\n");
}
printf ("\n");
}
else
printf ("the data error\n");
}
else
{
nrf_tx (TX_ADDRESS);
}
_delay_ms (1000);
}
}
NrfErrorType_e NrfSendStr(uint8 * str,uint32 len)
{
if (nrf_tx(str, DATA_PACKET) == 1) //发送一个数据包：buff（包为32字节）
{
//等待发送过程中，此处可以加入处理任务
while (nrf_tx_state() == NRF_TXING); //等待发送完成
if (NRF_TX_OK == nrf_tx_state())
{
return Nrf_AllGreen;
}
else
{
return Nrf_SendFail;
}
}
else
{
return Nrf_SendFail;
}
}
void SendPack_CCD(int father, int child, uint8 *ccdbuff, int ccdwidth, int hasHead, int hasEnd)//一次发送只能小于32为的数组
{
char buffer[DATA_PACKET];
char buff_end[DATA_PACKET];
int count_i = 0;
//============================================
buffer[count_i++]='0';
if(hasHead) //设置是否需要加数据头
buffer[count_i++]='#';
buffer[count_i++]='|';
//数字大于10时候的单独处理
if(father > 10)
{
buffer[count_i++]=48 + father/10;
buffer[count_i++]=48 + father%10;
}
else
{
buffer[count_i++]=48 + father;
}
buffer[count_i++]='|';
//child 为两位，分情况进行添加
if(child > 10)
{
buffer[count_i++]=48 + child/10;
buffer[count_i++]=48 + child%10;
}
else
{
buffer[count_i++]=48 + child;
}
buffer[count_i++]='|';
//CCD发送格式
buffer[count_i++]='(';
//child 为两位，分情况进行添加
if(ccdwidth > 100)
{
buffer[count_i++]=48 + ccdwidth/100;
buffer[count_i++]=48 + ccdwidth/10%10;
buffer[count_i++]=48 + ccdwidth%10;
}
else if(ccdwidth >10)
{
buffer[count_i++]=48 + ccdwidth/10;
buffer[count_i++]=48 + ccdwidth%10;
}
else{}
buffer[count_i++]=')';
buffer[count_i++]='\0';
buffer[0]=strlen(buffer) - 1;
//NRF send buffer
if(buffer[0] < 31)
{
if(nrf_tx((uint8*)buffer, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
}
else
{
printf("in NRF_DIY.c of \"SendPack_Short\" is overflow!!");
}
//CCD数据的发送
SendPack_Long(ccdbuff, ccdwidth, 31);
count_i = 0;
buff_end[count_i++]=1;
buff_end[count_i++]='|';
buff_end[count_i++]='\0';
buff_end[0]=strlen(buff_end) - 1;
//NRF send buffer
if(buff_end[0] < 31)
{
if(nrf_tx((uint8*)buff_end, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
}
count_i = 0;
buff_end[count_i++]=1;
buff_end[count_i++]='$';
buff_end[count_i++]='\0';
if(hasEnd) //添加结束符
{
if(nrf_tx((uint8*)buff_end, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
}
//printf("%d---%s", (int)buffer[0], buffer);
}
void SendPack_PID(int father, int child, float P, float I, float D, int hasHead, int hasEnd)//一次发送只能小于32为的数组
{
char buffer[DATA_PACKET];
char value_string[20];
int count_i = 0;
//============================================
buffer[count_i++]='0';
if(hasHead) //设置是否需要加数据头
buffer[count_i++]='#';
buffer[count_i++]='|';
//数字大于10时候的单独处理
if(father > 10)
{
buffer[count_i++]=48 + father/10;
buffer[count_i++]=48 + father%10;
}
else
{
buffer[count_i++]=48 + father;
}
buffer[count_i++]='|';
//child 为两位，分情况进行添加
if(child > 10)
{
buffer[count_i++]=48 + child/10;
buffer[count_i++]=48 + child%10;
}
else
{
buffer[count_i++]=48 + child;
}
buffer[count_i++]='|';
buffer[count_i++]='\0';
//添加P
sprintf(value_string, "P%4d", (int)(1000*P));
strcat(buffer, value_string);
//添加I
sprintf(value_string, "I%4d", (int)(1000*I));
strcat(buffer, value_string);
//添加D
sprintf(value_string, "D%4d|", (int)(1000*D));
strcat(buffer, value_string);
if(hasEnd) //添加结束符
strcat(buffer, "$");
buffer[0]=strlen(buffer)-1;
//printf("%d---%s", (int)buffer[0], buffer);
if(buffer[0] < 31)
{
if(nrf_tx((uint8*)buffer, DATA_PACKET)==1)
{
while(nrf_tx_state() == NRF_TXING); //等待发送完成
}
}
else
{
printf("in NRF_DIY.c of \"SendPack_Short\" is overflow!!");
}
}
int main(void)
{
// USB BEGIN //
SetupHardware();
/* Create a regular character stream for the interface so that it can be used with the stdio.h functions */
CDC_Device_CreateStream(&VirtualSerial_CDC_Interface, &USBSerialStream);
TCCR0B = (1<<CS02)|(1<<CS00); // Set up timer to handle USB stuff.
TIMSK0 = (1<<TOIE0);
sei();
// USB END //
while(rxByte != 0x20)
{
fputs(".", &USBSerialStream);
delay_ms(100);
}
rxByte = 0;
nrf_init();
delay_ms(500);
nrf_spillRegisters();
uint16_t number = 0;
fputs("Last transmission: ",&USBSerialStream);
itoa(number, buffer, 10);
fputs(buffer,&USBSerialStream);
for (;;)
{
/*while(!rxByte)
{
fputs(".", &USBSerialStream);
delay_ms(100);
}*/
number++;
nrf_tx((uint16_t)number);
fputs("\rLast transmission: ",&USBSerialStream);
itoa(number, buffer, 10);
fputs(buffer,&USBSerialStream);
//rxByte = 0;
GET_STATUS;
if(nrf_last_status & (1<<MAX_RT))
{
fputs("\r\nPacket transmission failed. Clearing MAX_RT...\r\n",&USBSerialStream);
delay_us(1);
SS_DOWN;
SPI_WRITE(W_REGISTER | NRG_STATUS);
SPI_WRITE(1<<MAX_RT);
SS_UP;
}
else
{
}
delay_ms(500);
//nrf_spillRegisters();
}
}
