void bindRX(bool timeout)
{
uint32_t start = millis();
printStrLn("waiting bind...");
init_rfm(1);
RF_Mode = Receive;
to_rx_mode();
while(!timeout || ((millis() - start) < 500)) {
if (RF_Mode == Received) {
printStrLn("Got pkt\n");
spiSendAddress(0x7f); // Send the package read command
uint8_t rxb = spiReadData();
if (rxb == 'b') {
for (uint8_t i = 0; i < sizeof(bind_data); i++) {
*(((uint8_t*) &bind_data) + i) = spiReadData();
}
if (bind_data.version == BINDING_VERSION) {
printStrLn("data good\n");
rxb = 'B';
tx_packet(&rxb, 1); // ACK that we got bound
bindWriteEeprom();
Red_LED_ON; //signal we got bound on LED:s
Green_LED_ON; //signal we got bound on LED:s
return;
}
}
}
}
}
void Init()
{
ReadConfigFromEEPROM();
//LEDs
DDRC |= (1<<PC3); //Red LED
DDRB |= (1<<PB5); //Green LED
//check for service mode
CheckServiceMode();
#ifndef NO_BINDING
Bind_RX_Init();
#endif
Red_LED_ON;
Timer0_Init();
USART_Init();
RF22B_Init();
Servo_Init();
to_rx_mode();
sei();
}
void Init()
{
ReadConfigFromEEPROM();
//LEDs
DDRC |= (1<<PC3); //Red LED
DDRB |= (1<<PB5); //Green LED
//check for service mode
CheckServiceMode();
#ifndef NO_BINDING
//check BIND button state
DDRD &= ~(1<<PD3);
PORTD |= (1<<PD3);
_delay_ms(1);
if (bit_is_clear(PIND,PD3))
{
_delay_ms(1000);
if (bit_is_clear(PIND,PD3)) bind = 1;
} else bind = 0;
if (bind)
{
RF_Header[0] = 'B';
RF_Header[1] = 'I';
RF_Header[2] = 'N';
RF_Header[3] = 'D';
} else {
RF_Header[0] = SETTINGS.RF_HEADER[0];
RF_Header[1] = SETTINGS.RF_HEADER[1];
RF_Header[2] = SETTINGS.RF_HEADER[2];
RF_Header[3] = SETTINGS.RF_HEADER[3];
}
#endif
Red_LED_ON;
Timer0_Init();
USART_Init();
RF22B_Init();
Servo_Init();
to_rx_mode();
sei();
}
int main(void)
{
unsigned char i, chksum;
ioinit();
init_SPI();
sbi(CSPORT,CS);
printf("********RFM22 Communication Test********\n");
//====================//
//Communications Test
printf("Reading DTYPE register, should be 0x08: %d", read(DTYPE));
printf("\n*****************************************\n\n");
init_RFM22(); // Initialize all RFM22 registers
printf("Entering RX Mode...\n");
to_rx_mode();
while(1)
{
if((PIND & (1<<NIRQ)) == 0) //Interrupt will be generated if data is recieved
{
// Read 18-byte packet into RF_RXBUF[]:
for(i=0; i<17; i++)
{
RF_RXBUF[i] = read(0x7F);
}
// Check that the checksum matches up:
chksum = 0;
for(i=0; i<16; i++)
chksum += RF_RXBUF[i];
// If checksum is good, print out what was received into the terminal
if(chksum == RF_RXBUF[16])
{
write(0x07, 0x01); // To ready mode
printf("Received: ");
for(i=0; i<17; i++)
printf("%c", RF_RXBUF[i]); // Print characters if passed the checksum
printf("\n");
//printf("To Ready mode\n");
}
// otherwise reset and start listening again
else
{
rx_reset();
//printf("Bad checksum RX RESET...Listening again\n");
}
delay_ms(50);
}
}
}
void ServiceMode()
{
unsigned char rssi_table[256];
uint8_t service_channel;
unsigned long time = millis();
static unsigned long last_hop_time;
Red_LED_ON;
Green_LED_ON;
service_channel = 0;
last_hop_time = time;
ChannelSet(service_channel);
while(1)
{
time = millis();
if (_spi_read(0x0C)==0) // detect the locked module and reboot
{
RF22B_init_parameter();
to_rx_mode();
}
//channel change
if (time-last_hop_time>12)
{
rssi_table[service_channel] = _spi_read(0x26);
service_channel++;
last_hop_time = time;
}
if (UART_lock) //awaiting message from UART
{
Service_Recieve(UART_command_type,UART_command_size,(char *)UART_command);
UART_lock = 0; //unlock uart - allowing to recieve next message
}
Service_Send(rssi_table);
}
}
/***********************************************
go to tx mode(transmit data leSS_RFM than 64byte)
************************************************/
void to_tx_mode(void)
{
to_ready_mode();
_delay_us(200);
unsigned char j,k;
txError=0;
clear_fifo();
spi_write(0x3E, txBufCnt);
_RFM_SPCR
_SS_AKT //start SS_RFM
_delay_us(1);
SPDR=0xff; //adres
while(!(SPSR & (1<<SPIF)));
for (k=0;k<txBufCnt;k++)
{ //dane
SPDR=txBufTab[k];
while(!(SPSR & (1<<SPIF)));
}
txBufCnt=0;
_delay_us(1);
_SS_DEZ
_delay_us(1);
j=0;/*
while (to_tx_mode_table[j]!=0xFFFF)
{
spi_write_command(to_tx_mode_table[j]);
j++;
}*/
spi_write_command(to_tx_mode_table[0]);
spi_write_command(to_tx_mode_table[1]);
ItStatus1 = spi_read(INTERRUPT_STATUS_1);
ItStatus2 = spi_read(INTERRUPT_STATUS_2);
spi_write_command(to_tx_mode_table[2]);
while(!(0x02&spi_read(0x02)));
//_delay_ms(50);
//tempStat1=spi_read(0x02);
#ifdef ODMIERZANIE_CZASU
txczas = czasomierz;
#endif
do
{
#ifdef ODMIERZANIE_CZASU
if (czasomierz>txczas+_STOMILI(TX_CZAS_CZEKANIA))
{
ItStatus2=spi_read(INTERRUPT_STATUS_2);
ItStatus1=spi_read(INTERRUPT_STATUS_1);
txError=1;
break;
}
#endif
}
#ifdef _RFM_NIRQ
while(_RFM_NIRQ); //zmienic na sprawdzanie flagi
//tempStat2=spi_read(0x02);
ItStatus2=spi_read(INTERRUPT_STATUS_2);
ItStatus1=spi_read(INTERRUPT_STATUS_1);
#else
while(!(spi_read(0x31)&0x01));
#endif
#ifdef TX_ERROR_RESET
if (txError)
{
RF23B_init_parameter();
//software_reset(); //module software reset
//_delay_ms(5); //delay 5ms,then re_Initialization the module
//RF23B_init_parameter();
}
#endif
to_rx_mode();
}
void setup(void)
{
watchdogConfig(WATCHDOG_OFF);
setupSPI();
#ifdef SDN_pin
pinMode(SDN_pin, OUTPUT); //SDN
digitalWrite(SDN_pin, 0);
#endif
//LED and other interfaces
pinMode(Red_LED, OUTPUT); //RED LED
pinMode(Green_LED, OUTPUT); //GREEN LED
#ifdef Red_LED2
pinMode(Red_LED2, OUTPUT); //RED LED
pinMode(Green_LED2, OUTPUT); //GREEN LED
#endif
// pinMode(BTN, INPUT); //Button
pinMode(SLAVE_SELECT, INPUT);
digitalWrite(SLAVE_SELECT, HIGH); // enable pullup for TX:s with open collector output
buzzerInit();
serialInit(115200,SERIAL_8N1);
checkOperatingMode();
printStr("OpenLRSng DL starting ");
printVersion(version);
printStr(" on HW ");
printUL(BOARD_TYPE);
printStr(" (");
printUL(RFMTYPE);
printStr("MHz) MDOE=");
buzzerOn(BZ_FREQ);
digitalWrite(BTN, HIGH);
Red_LED_ON ;
sei();
delay(50);
if (!slaveMode) {
printStrLn("MASTER");
if (!bindReadEeprom()) {
printStrLn("eeprom bogus reinit....");
bindInitDefaults();
bindWriteEeprom();
}
if (!digitalRead(BTN)) {
bindMode();
}
} else {
printStrLn("SLAVE");
if (!digitalRead(BTN) || !bindReadEeprom()) {
bindRX(false);
} else {
bindRX(true);
}
}
packetInterval = getInterval(&bind_data);
printStrLn("Entering normal mode");
serialFlush();
serialInit(bind_data.serial_baudrate, bind_data.serial_mode);
Red_LED_OFF;
buzzerOff();
init_rfm(0);
rfmSetChannel(RF_channel);
rx_reset();
if (slaveMode) {
to_rx_mode();
RF_Mode = Receive;
}
watchdogConfig(WATCHDOG_2S);
lastReceived=micros();
}
int main()
{
uint8_t i;
Init();
if (service_mode_rx) ServiceMode(); //enter service mode
//Hop to first frequency from Carrier
#ifdef FREQUENCY_HOPPING
Hopping();
#endif
RF_Mode = Receive;
Red_LED_OFF;
time = millis();
last_pack_time = time; // reset the last pack receiving time for first usage
last_hopping_time = time; // reset hopping timer
// quality_check_time = time;
//-------------- MAIN LOOP -------------------------------------------------------------------------------------------
while(1)
{
time = millis();
if (_spi_read(0x0C)==0) // detect the locked module and reboot
{
RF22B_init_parameter();
to_rx_mode();
}
SignalLostProcedure();
if(RF_Mode == Received) // RFM22B INT pin Enabled by received Data
{
last_pack_time = time; // record last package time
Red_LED_OFF;
Green_LED_ON;
send_read_address(0x7f); // Send the package read command
//read all buffer
for(i = 0; i<DATA_PACKAGE_SIZE; i++) RF_Rx_Buffer[i] = read_8bit_data();
rx_reset();
if (RF_Rx_Buffer[0] == 'S') // servo control data
{
for(i = 0; i<8; i++) //Write into the Servo Buffer
{
temp_int = (256*RF_Rx_Buffer[1+(2*i)]) + RF_Rx_Buffer[2+(2*i)];
if ((temp_int>1500) && (temp_int<4500)) Servo_Position[i] = temp_int;
}
}
// sum_rssi += _spi_read(0x26); // Read the RSSI value
//binding mode
if (bind) if (Bind()) break;
#ifdef FREQUENCY_HOPPING
ChannelHopping(1);
#endif
last_ok_channel = hopping_channel;
last_hopping_time = time;
RF_Mode = Receive;
}
else Green_LED_OFF;
}
//----------------------------------------------------------------------------------------------------------------------
if (bind) //binding finished, now you have to restart RX
{
Red_LED_ON;
Green_LED_ON;
while(1);
}
}
int main(void)
{
//uint8_t i=0;
inicjalizacja();
_delay_ms(500);
spi_write(0x07, 0x80);
while (_RFM_NIRQ);
//while (!(0x02&spi_read(INTERRUPT_STATUS_2)));
//_delay_ms(200);
RF23B_init_parameter();
//while (_RFM_NIRQ);
while (!((1<<ICHIPRDY)&spi_read(INTERRUPT_STATUS_2)));
uint8_t temp8;
uint16_t temp16;
setup();
czasomierz=0;
sei();
_delay_ms(500);
_LED_Z;
to_ready_mode();
_delay_ms(100);
_LED_OFF;
_LED_C;
_delay_ms(100);
_LED_OFF;
_delay_ms(500);
uint8_t led_stan=0;
to_rx_mode();
while (1)
{
if (!_RFM_NIRQ)
{
if (led_stan)
{
_LED_Z;
led_stan=0;
}
else
{
_LED_OFF;
led_stan=1;
}
if(rxBufTab[0]==R_STOP)
{f.ARMED=0;
}else if (rxBufTab[0]==R_ARMUJ)
{
f.ARMED=1;
headFreeModeHold = heading;
}else if (rxBufTab[0]==R_SILNIKI)
{
temp16=0;
temp16|=rxBufTab[2];
temp16=temp16<<8;
temp8=rxBufTab[1];
temp16|=temp8;
rfmRcData[THROTTLE]=500;//temp16;
rfmRcData[ROLL]=500;
rfmRcData[PITCH]=500;
rfmRcData[YAW]=500;
}
to_rx_mode();
}
loop();
}
return 0;
}