void rfRecvData(void)
{
uint8 pRxData[128];
int rlen;
basicRfReceiveOn();
// Main loop
while (TRUE) {
while(!basicRfPacketIsReady());
rlen = basicRfReceive(pRxData, sizeof pRxData, NULL);
if(rlen > 0) {
pRxData[rlen] = 0;
printf("%s rssi: %d\r\n", (char *)pRxData, basicRfGetRssi());
}
}
}
/***********************************************************************************
* @fn main
*/
void main(void)
{
// Initalise board peripherals
halBoardInit();
basicRfSetUp();
// Initalise hal_rf
if(halRfInit()==FAILED)
{
HAL_ASSERT(FALSE);
}
// Indicate that device is powered
halLedSet(1);
halMcuWaitMs(350);
configureUSART0forUART_ALT1();
uartStartRxForIsr();
while(TRUE)
{
//----------------------
// INITIALIZE
//----------------------
if(initFlag)
{
while(!start); //waiting for 'a' key from PC
//respond to PC -- going to try to start up WRS
start=0;
pTxData[0] = INIT_COMM_CMD;
basicRfReceiveOff();
if(basicRfSendPacket(ROBOT_ADDR, pTxData, APP_PAYLOAD_LENGTH)==SUCCESS)
{
state=1;
}
basicRfReceiveOn();
//wait for ACK from WRS
pTxData[0] = INIT_COEF_CMD;
basicRfReceiveOff();
if(basicRfSendPacket(ROBOT_ADDR, pTxData, APP_PAYLOAD_LENGTH)==SUCCESS)
{
basicRfReceiveOn();
//WAIT FOR COEFFICIENTS FROM WRS
while(!basicRfPacketIsReady());//wait to receive acknowledgement
if(basicRfReceive(pRxData, APP_PAYLOAD_LENGTH, NULL)>0)
{
if(pRxData[0] == 'C')
{
//Pass to PC
for (unsigned int uartTxIndex = 0; uartTxIndex<105; uartTxIndex++)
{
U0CSR &= ~0x02; //SET U0TX_BYTE to 0
U0DBUF = pRxData[uartTxIndex];
while (!(U0CSR&0x02));
}
}
}
}
//finished sending coefficients to PC
basicRfReceiveOn();
initFlag=0;
}
if(turnOnMotorFlag){
if(basicRfSendPacket(ROBOT_ADDR, pTxData, APP_PAYLOAD_LENGTH)==SUCCESS)//send command to WRS
{
turnOnMotorFlag=0;
}
}
if(sendInitFlag){
if(basicRfSendPacket(ROBOT_ADDR, pTxData, APP_PAYLOAD_LENGTH)==SUCCESS)//send command to WRS
{
initFlag=1;
sendInitFlag=0;
//Pass to PC
for (unsigned int uartTxIndex = 0; uartTxIndex<105; uartTxIndex++)
{
pRxData[0] == 'R';
U0CSR &= ~0x02; //SET U0TX_BYTE to 0
U0DBUF = pRxData[uartTxIndex];
while (!(U0CSR&0x02));
}
}
}
//Receive package from WRS
if(basicRfPacketIsReady())
{
if(basicRfReceive(pRxData, APP_PAYLOAD_LENGTH, myRSSI)>0) {
getRSSI = basicRfGetRssi();
pRxData[104]=getRSSI;
if(pRxData[0] == 'D')//||(pRxData[0] == 'I'))
{
//SEND DATA TO PC
for (unsigned int uartTxIndex = 0; uartTxIndex<105; uartTxIndex++)
{
U0CSR &= ~0x02; //SET U0TX_BYTE to 0
U0DBUF = pRxData[uartTxIndex];
while (!(U0CSR&0x02));
}
}
}
}
}
}
/***********************************************************************************
* @fn main
*/
void main(void)
{
// Initalise board peripherals
halBoardInit();
basicRfSetUp();
// Initalise hal_rf
if(halRfInit()==FAILED)
{
HAL_ASSERT(FALSE);
}
// Indicate that device is powered
halLedSet(1);
halMcuWaitMs(350);
configureUSART0forUART_ALT1();
uartStartRxForIsr();
while(!start); //waiting for 'a' key from PC
//respond to PC -- going to try to start up WRS
pTxData[0] = INIT_COMM_CMD;
basicRfReceiveOff();
if(basicRfSendPacket(ROBOT_ADDR, pTxData, APP_PAYLOAD_LENGTH)==SUCCESS)
{
state=1;
}
basicRfReceiveOn();
//wait for ACK from WRS
pTxData[0] = INIT_COEF_CMD;
basicRfReceiveOff();
if(basicRfSendPacket(ROBOT_ADDR, pTxData, APP_PAYLOAD_LENGTH)==SUCCESS)
{
basicRfReceiveOn();
state=2;//continuous?
//WAIT FOR COEFFICIENTS FROM WRS
while(!basicRfPacketIsReady());//wait to receive acknowledgement
if(basicRfReceive(pRxData, APP_PAYLOAD_LENGTH, NULL)>0)
{
if(pRxData[0] == 'C')
{
//Pass to PC
for (unsigned int uartTxIndex = 0; uartTxIndex<105; uartTxIndex++)
{
U0CSR &= ~0x02; //SET U0TX_BYTE to 0
U0DBUF = pRxData[uartTxIndex];
while (!(U0CSR&0x02));
}
// while(!ACK);//waiting for acknowledgement
}
}
}
//finished sending coefficients to PC
basicRfReceiveOn();
while(TRUE)
{
//Receive package from WRS
if(basicRfPacketIsReady())
{
if(basicRfReceive(pRxData, APP_PAYLOAD_LENGTH, myRSSI)>0) {
getRSSI = basicRfGetRssi();
pRxData[104]=getRSSI;
if((pRxData[0] == 'P')||(pRxData[0] == 'A'))
{
//SEND DATA TO PC
for (unsigned int uartTxIndex = 0; uartTxIndex<105; uartTxIndex++)
{
U0CSR &= ~0x02; //SET U0TX_BYTE to 0
U0DBUF = pRxData[uartTxIndex];
while (!(U0CSR&0x02));
}
}
}
}
//Receive CMD from PC
if(changePWMflag)//have this be set in interrupt
{
//basicRfReceiveOff();
if(basicRfSendPacket(ROBOT_ADDR, pTxData, APP_PAYLOAD_LENGTH)==SUCCESS)//send PWM info to WRS
{
changePWMflag=0;
}
//basicRfReceiveOn();
// while(changePWMflag)//Keep receiving until PWM acknowledge is sent
// {
// while(!basicRfPacketIsReady());//waiting for acknowledgement -- important here i think
//
// if(basicRfReceive(pRxData, APP_PAYLOAD_LENGTH, NULL)>0)
// {
// if(pRxData[0] == 'Z')
// {
// //receive current duty cycle and send back to PC
// for (unsigned int uartTxIndex = 0; uartTxIndex<105; uartTxIndex++)
// {
// U0CSR &= ~0x02; //SET U0TX_BYTE to 0
// U0DBUF = pRxData[uartTxIndex];
// while (!(U0CSR&0x02));
// }
// changePWMflag = 0;
// }
// //else send pressure?
// }
// }
// }
}
}//END OF MAIN WHILE LOOP
}
