int main(void)
{
clock_init();
serial_init(9600);
nrf_init();
cio_print("nRF2401 v0.1, TestClient\n\r");
nrf_configure_esb_rx();
nrf_dump_regs(&nrf_reg_def);
static nrf_payload p;
int s;
// set payload size according to the payload size configured for the RX channel
p.size = 1;
while (1) {
s = nrf_receive_blocking(&p);
cio_printf("Received payload: %x; bytes received: %u\n\r", p.data[0], s);
}
return 0;
}
void slaveMain() {
//slave
int i;
char offset;
char status;
nrf_init();
delay();
nrf_rxmode();
delay();
// while(1) {
// LED_GREEN = nrf_recieve(&tx_buf, &rx_buf);
// }
nrf_setTxAddr(0);
nrf_setRxAddr(0, 0);
rx_buf[0] = 0;
while(rx_buf[0] != 0x42) {
nrf_recieve(&tx_buf, &rx_buf);
}
nrf_setTxAddr(rx_buf[1]);
nrf_setRxAddr(0, rx_buf[1]);
while(1) {
LED_GREEN = nrf_recieve(&tx_buf, &rx_buf);
}
}
int main (void)
{
sysclk_init();
pmic_init();
port_init();
tc_init();
wdt_set_timeout_period(WDT_TIMEOUT_PERIOD_32CLK);
wdt_enable();
usart_init();
spi_init();
char str[200];
uint8_t count ;
count = sprintf(str,"RESET");
for (uint8_t i=0;i<count;i++)
usart_putchar(&USARTE0,str[i]);
nrf_init(Address);
sei();
for (uint8_t i=0;i<Max_Robot;i++)
{
Robot_D_tmp[2][i].RID=12;
}
while (1)
{
}
}
void receiverMain() {
int i;
char offset;
char status;
//doCycle();
//doOscillate();
nrf_init();
delay();
nrf_rxmode();
delay();
Delay10KTCYx(100);
offset = 0;
STATUS_LED = 0;
while(1) {
//STATUS_LED =
nrf_receive(&rx_buf);
updateBuffer();
updateLEDs();
}
}
void Init_NRF()
{
//*********************************************************************
printf("\n\n\n***********无线模块NRF24L01+测试************");
while(!nrf_init()) //初始化NRF24L01+ ,等待初始化成功为止
{
printf("\n NRF与MCU连接失败，请重新检查接线。\n");
}
//*********************************************************************
set_vector_handler(PORTE_VECTORn ,PORTE_IRQHandler); //设置 PORTE 的中断服务函数为 PORTE_VECTORn
enable_irq(PORTE_IRQn);
}
int main(void)
{
int i;
clock_init();
gpio_init();
serial_init(9600);
serirq_init();
nrf_init();
nrf_configure_sb();
prx.size = PL_SIZE;
ptx.size = PL_SIZE;
while (1) {
ptx.data[0] = 0;
while(!serial_rb_empty(&srx) && ptx.data[0] < (PL_SIZE - 1)) {
ptx.data[ptx.data[0] + 1] = serial_rb_read(&srx);
ptx.data[0]++;
}
if(ptx.data[0] > 0) {
#ifdef MSP430
P1OUT |= RXTX_LED;
#else
gpio_set(GPIOC, TX_LED);
#endif
// switch to PTX for sending out data ...
nrf_set_mode_ptx();
nrf_send_blocking(&ptx);
nrf_set_mode_prx();
}
if(nrf_receive(&prx) != 0 && prx.data[0] > 0) {
if(!serial_rb_full(&stx)) {
for(i = 0; i < prx.data[0]; i++) serial_rb_write(&stx, prx.data[i + 1]);
#ifdef MSP430
P1OUT |= RXTX_LED;
IE2 |= UCA0TXIE;
#else
gpio_set(GPIOC, RX_LED);
USART_CR1(USART1) |= USART_CR1_TXEIE;
#endif
}
}
}
return 0;
}
NrfErrorType_e NrfInit()
{
uint8 i = NrfInitRetryTime;
while (!nrf_init()) //初始化NRF24L01+ ,等待初始化成功为止
{
if (i-- == 0)
{
ASSERT(true);
return Nrf_NotOnLine;
}
}
nrf_msg_init();//初始化消息
return Nrf_AllGreen;
}
void Rf_Init()
{
nrf_init();
// disable TX_DS and MAX_RT interrupt
nrf_reg_write(REG_CONFIG, MASK_TX_DS | MASK_MAX_RT | PWR_UP);
// clear any existing RX/TX payload
nrf_flush_rx();
nrf_flush_tx();
// clear any pending RX/TX interrupt flags
nrf_reg_write(REG_STATUS, RX_DR| TX_DS | MAX_RT);
// disable auto-acknowledge feature
nrf_reg_write(REG_EN_AA, 0);
// enable only P0 RX channel
nrf_reg_write(REG_EN_RXADDR, 0x01);
#ifdef __NRF24L01P
// 250kbps, max RF power
nrf_reg_write(REG_RF_SETUP, 0x27);
#else
// 1Mbps, max RF power, LNA gain
nrf_reg_write(REG_RF_SETUP, 0x07);
#endif
// RF channel
nrf_reg_write(REG_RF_CH, g_sysConfig.channel);
// make sure 5 bytes address length
nrf_reg_write(REG_SETUP_AW, sizeof(g_sysConfig.rxAddr) - 2);
// disable retry
nrf_reg_write(REG_SETUP_RETR, 0);
// fixed packet size
nrf_set_rx_payload_length(sizeof(PACKET));
// initialize rx_addr to be whatever in the system configuration
nrf_set_rx_addr(g_sysConfig.rxAddr, sizeof(g_sysConfig.rxAddr));
// standby mode
nrf_standby();
// dump registers
nrf_test_dump_reg();
}
void main() {
char buffer[NRF_PAYLOAD_LEN];
_nrf_sleep(1000);
if (!nrf_init()) {
P0 = _nrf_get_reg(STATUS);
return;
}
while (TRUE) {
nrf_recv(ADDR_TEST_SLAVE, buffer, -1);
nrf_send(ADDR_TEST_MASTER, buffer);
}
}
int main(void) {
dbg_init();
dbg_set(0xA);
uart_rb_init();
uart_printf_init();
nrf_init(rxbuf);
nrf_set_channel(115);
nrf_set_power(NRF_CFG_RF_GAIN_M12);
nrf_enable_pipe(0, tx_addr);
sei();
while (1) {
transmitter_loop();
}
}
void f_init(void){
nrf_init();
struct NRF_CFG config = {
.channel= BEACON_CHANNEL,
.txmac= BEACON_MAC,
.nrmacs=1,
.mac0= BEACON_MAC,
.maclen ="\x10",
};
nrf_config_set(&config);
lcdPrintln("Done.");
};
void f_status(void){
int dx=0;
int dy=8;
uint8_t buf[4];
buf[0]=C_R_REGISTER | R_CONFIG;
buf[1]=0;
buf[2]=0;
buf[3]=0;
dx=DoString(0,dy,"S:");
dx=DoCharX(dx,dy,buf[0]);
dx=DoCharX(dx,dy,buf[1]);
dx=DoCharX(dx,dy,buf[2]);
dx=DoCharX(dx,dy,buf[3]);
dy+=8;
nrf_cmd_rw_long(buf,2);
dx=DoString(0,dy,"R:");
dx=DoCharX(dx,dy,buf[0]);
dx=DoCharX(dx,dy,buf[1]);
dx=DoCharX(dx,dy,buf[2]);
dx=DoCharX(dx,dy,buf[3]);
dy+=8;
int status=nrf_cmd_status(C_NOP);
dx=DoString(0,dy,"St:"); DoCharX(dx,dy,status);dy+=8;
};
//========== main =====================================================================
void main(void) {
nrf_init();
TRIS_CE = output;
TRIS_CSN = output;
TRIS_IRQ = input;
TRIS_SCK = output;
TRIS_MISO = input;
TRIS_MOSI = output;
OSCCONbits.IRCF = 0b111; //sets internal osc to 111=16mhz, 110=8mhz
OSCCONbits.SCS = 0b00;
OSCTUNEbits.PLLEN = 0b1; //1=pllx4 enabled
//set up timer
T0CONbits.TMR0ON = 1; //enable timer 0
T0CONbits.T0CS = 0; //select clock (0=internal,1=t0pin)
T0CONbits.PSA = 1; //disable's prescaler (1=disable, 0=enable)
T0CONbits.T08BIT = 1; //set mode (1=8bit mode, 0=16bit mode)
T0CONbits.T0SE = 1; //edge select (1=falling edge, 0=rising edge)
T0CONbits.T0PS = 0b000; //configure prescaler 000=1:2
//Set up timer0 interrupts
INTCONbits.TMR0IE = 1;
INTCONbits.TMR0IF = 0;
INTCONbits.PEIE = 1;
//Misc port config
TRIS_LED = output;
initRX();
Delay10KTCYx(20);
while(1) {
nrf_Recieve(&rx_buf);
LED = rx_buf[0];
Delay10KTCYx(20);
}
}
int main(void)
{
clock_init();
serial_init(9600);
exti_init();
nrf_init();
cio_print("nRF2401 v0.1 - TestClient ESBPL-exti\n\r");
nrf_configure_esbpl_rx();
// setup payload
prx.size = 1; // receive payload size 1Byte
ptx.size = 1; // send payload size 1Byte
ptx.data[0] = 0; // set payload to 0
// Nothing to do here since ISR does all the work
while (1) {
__asm__("nop");
}
return 0;
}
void main_bridge(void)
{
GLOBAL(daytrig)=10;
GLOBAL(lcdbacklight)=10;
GLOBAL(privacy) = 3;
char input[64];
char led1=0;
char led2=0;
usbCDCInit();
delayms(500);
nrf_init();
nrf_config_set(&config);
nrf_rcv_pkt_start(R_CONFIG_EN_CRC);
while(1){
int l, i, status;
CDC_OutBufAvailChar (&l);
if(l>0){
gpioSetValue (RB_LED0, led1);led1=1-led1;
CDC_RdOutBuf (input, &l);
for(i=0; i<l; i++){
uint8_t cmd = serialmsg_put(input[i]);
if( cmd != SERIAL_NONE ){
switch( cmd ){
case '1':
// can we loose packets here?
nrf_rcv_pkt_end();
status=snd_pkt_no_crc(serialmsg_len, serialmsg_message);
//status=nrf_snd_pkt_crc(serialmsg_len, serialmsg_message);
nrf_rcv_pkt_start(R_CONFIG_EN_CRC);
break;
case '3':
memcpy(config.txmac, serialmsg_message, 5);
nrf_write_long(C_W_REGISTER|R_TX_ADDR,5,config.txmac);
break;
case '4':
memcpy(config.mac0, serialmsg_message, 5);
nrf_write_long(C_W_REGISTER|R_RX_ADDR_P0,5,config.mac0);
nrf_write_reg(R_EN_RXADDR,1);
break;
case '5':
config.channel=serialmsg_message[0];
nrf_set_channel(config.channel);
nrf_cmd(C_FLUSH_RX);
break;
case '6':
config.maclen[0]=serialmsg_message[0];
nrf_write_reg(R_RX_PW_P0,config.maclen[0]);
break;
case '7':
puts("\\7");
char s[sizeof(uint32_t)+1];
*((uint32_t*)s) =GetUUID32();
s[sizeof(uint32_t)]=0;
puts(s);
puts("\\0");
break;
case '8': /* set mac width */
nrf_write_reg(R_SETUP_AW,serialmsg_message[0]);
break;
case '9': // Dis/Enable CRC
nrf_write_reg(R_CONFIG, R_CONFIG_PRIM_RX|R_CONFIG_PWR_UP|
((serialmsg_message[0]&1)?R_CONFIG_EN_CRC :0)|
((serialmsg_message[0]&2)?R_CONFIG_CRCO :0)
);
/* maybe add enhanced shockburst stuff here */
nrf_cmd(C_FLUSH_RX);
nrf_write_reg(R_STATUS,0);
break;
};
puts("\\2\\0");
}
}
}
int len;
uint8_t buf[32];
len=nrf_rcv_pkt_poll(sizeof(buf),buf);
if( len > 0 ){
gpioSetValue (RB_LED2, led2);led2=1-led2;
puts("\\1");
dump_encoded(len, buf);
puts("\\0");
}
}
}
int main()
{
u8 data[ 4 ];
int res;
leds_init();
btn_init();
ind_init();
uart_init();
sei();
ledvm_init();
i2cee_init();
pgm_init();
//stdout = &mystdout;
nrf_init();
nrf_set_own_addr( lights_addr );
nrf_set_mode( NRF_MODE_RX );
while( 1 )
{
// Something to execute?
if( pgm_crt != -1 )
{
res = ledvm_run();
if( res != LEDVM_ERR_OK )
{
if( res == LEDVM_ERR_FINISHED ) // program finished, look for the next one
{
if( pgm_cycle )
{
res = pgm_get_next_index( pgm_crt, 1 );
if( res != -1 ) // if found use the other program, otherwise don't change it
pgm_crt = res;
}
ledvm_init();
}
else
{
ledvm_ll_setrgb( 0, 0, 0 );
pgm_crt = -1;
}
}
}
// New data via radio?
if( nrf_get_packet( data, 4, NULL ) == 4 )
{
// Got data, interpret it
if( data[ 0 ] == CMD_START_WRITE )
{
pgm_recv_on = 1;
pgm_recv_slot = data[ 3 ];
pgm_recv_addr = 0;
pgm_recv_buf_idx = 0;
if( pgm_recv_slot == pgm_crt )
pgm_crt = -1;
}
else if( data[ 0 ] == CMD_END_WRITE )
{
pgm_recv_on = 0;
pgm_recv_to_flash();
pgm_set_program_state( pgm_recv_slot, 1 );
if( pgm_crt == -1 )
pgm_crt = pgm_get_first_index();
}
else if( data[ 0 ] == CMD_RUN )
{
if( pgm_mask & ( 1 << data[ 3 ] ) )
{
pgm_crt = data[ 3 ];
ledvm_init();
}
}
else if( data[ 0 ] == CMD_RAW )
{
pgm_crt = -1;
ledvm_ll_setrgb( data[ 1 ], data[ 2 ], data[ 3 ] );
}
else if( data[ 0 ] == CMD_DEL )
{
pgm_set_program_state( data[ 3 ], 0 );
if( pgm_crt == data[ 3 ] )
{
pgm_crt = pgm_get_first_index();
ledvm_init();
}
}
else if( pgm_recv_on ) // instruction
{
memcpy( pgm_recv_buffer + pgm_recv_buf_idx, data, 4 );
pgm_recv_buf_idx += 4;
if( pgm_recv_buf_idx == PGM_EE_PAGE_SIZE )
pgm_recv_to_flash();
}
}
// Handle buttons
if( pgm_crt != -1 )
{
btn_handler();
if( btn_is_pressed( BTN_NEXT_PIN ) )
{
res = pgm_get_next_index( pgm_crt, 1 );
if( res != -1 )
pgm_crt = res;
ledvm_init();
}
else if( btn_is_pressed( BTN_PREV_PIN ) )
{
res = pgm_get_next_index( pgm_crt, -1 );
if( res != -1 )
pgm_crt = res;
ledvm_init();
}
else if( btn_is_pressed( BTN_REPEAT_PIN ) )
ind_set( 1 - pgm_cycle );
}
}
}
int main(void)
{
uint8_t buffer[32] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16};
/* Unlock the protected registers */
UNLOCKREG();
/* Enable the 12MHz oscillator oscillation */
DrvSYS_SetOscCtrl(E_SYS_XTL12M, 1);
/* Waiting for 12MHz Xtal stable */
DrvSYS_Delay(5000);
/* HCLK clock source. 0: external 12MHz. */
DrvSYS_SelectHCLKSource(0);
LOCKREG();
DrvSYS_SetClockDivider(E_SYS_HCLK_DIV, 0); /* HCLK clock frequency = HCLK clock source / (HCLK_N + 1) */
nrf_init();
nrf_detect();
//nrf_rx_mode_no_aa(addr,5,16,40);
//nrf_rx_mode(addr,5,16,40);
nrf_rx_mode_dual(addr,5,40);
nrf_test_reg();
DrvGPIO_Open(E_GPA, 2, E_IO_OUTPUT);
DrvGPIO_Open(E_GPA, 3, E_IO_OUTPUT);
DrvGPIO_Open(E_GPA, 4, E_IO_OUTPUT);
DrvGPIO_Open(E_GPA, 5, E_IO_OUTPUT);
{
uint8_t status = nrf_read_reg(NRF_STATUS);
nrf_write_reg(NRF_WRITE_REG|NRF_STATUS,status); // clear IRQ flags
nrf_write_reg(NRF_FLUSH_RX, 0xff);
nrf_write_reg(NRF_FLUSH_TX, 0xff);
}
while(1) {
uint8_t buffer[32];
if(tx_done) {
static uint8_t yy = 0;
yy++;
if(yy&1) {
DrvGPIO_SetBit(E_GPA,2);
} else {
DrvGPIO_ClrBit(E_GPA,2);
}
if(tx_done == 1) {
} else {
}
buffer[0] = tx_done;
tx_done = 0;
}
if(rx_done) {
static uint8_t xx = 0;
rx_done = 0;
xx++;
if(xx & 1)
DrvGPIO_SetBit(E_GPA,5);
else
DrvGPIO_ClrBit(E_GPA,5);
//nrf_ack_packet(0,buffer, (xx&15) + 1);
nrf_ack_packet(0,rx_buffer, rx_len);
}
}
while(1) {
static uint8_t cnt = 0;
if(cnt&1) {
DrvGPIO_SetBit(E_GPA,2);
} else {
DrvGPIO_ClrBit(E_GPA,2);
}
DrvSYS_Delay(50000*2);
cnt++;
//nrf_tx_packet(buffer, 16);
//buffer[0]++;
if(nrf_rx_packet(buffer,16) == NRF_RX_OK)
{
static uint8_t xx = 0;
xx++;
if(xx & 1)
DrvGPIO_SetBit(E_GPA,5);
else
DrvGPIO_ClrBit(E_GPA,5);
}
}
return 0;
}
void testInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
uint8_t i;
struct __gpio_config_t {
GPIO_TypeDef *gpio;
uint16_t pin;
GPIOMode_TypeDef mode;
}
gpio_cfg[] = {
{LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP}, // PB3 (LED)
{LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP}, // PB4 (LED)
};
uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);
// Turn on clocks for stuff we use
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE);
RCC_ClearFlag();
// Make all GPIO in by default to save power and reduce noise
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Turn off JTAG port 'cause we're using the GPIO for leds
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
// Configure gpio
for (i = 0; i < gpio_count; i++) {
GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode;
GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure);
}
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
LED0_OFF;
LED1_OFF;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority
checkFirstTime(true,true);
initMixer();
pwmOutputConfig.motorPwmRate = 10*1000;
pwmOutputConfig.noEsc = true;
pwmOutputInit(&pwmOutputConfig);
i2cInit(SENSOR_I2C);
initGyro();
initAccel();
initMag();
nrf_init();
nrf_detect();
}
void masterMain() {
//master
short i;
short l;
short nextSlot;
int clients[MAX_CLIENTS];
int clientInfo[MAX_CLIENTS];
nrf_init();
delay();
nrf_txmode();
delay();
nextSlot = 0;
for (i=0; i<MAX_CLIENTS; i++) {
clients[i] = 0;
}
sendLiteralBytes("\nLoop Start\n");
LED_RED = 0;
LED_GREEN = 0;
// while(1) {
// LED_RED = !LED_RED;
// LED_GREEN = nrf_send(&tx_buf,&rx_buf);
// delay();
// }
while(1) {
LED_RED = !LED_RED;
delay();
sendIntArray(&clients,MAX_CLIENTS);
sendLiteralBytes("\n");
nrf_setTxAddr(0); //master channel
nrf_setRxAddr(0,0); //master channel
tx_buf[0] = 0x42;
tx_buf[1] = nextSlot+1;
//sendLiteralBytes("Attempt Send\n");
//displayStatus(nrf_getStatus());
if (nrf_send(&tx_buf,&rx_buf)) {
sendLiteralBytes("\nClient Connected!\n");
clients[nextSlot] = 1;
//find the next available slot
nextSlot = -1;
for (i=0; i<MAX_CLIENTS; i++) {
if (clients[i] == 0) {
nextSlot = i;
break;
}
}
}
for (i=0; i<MAX_CLIENTS; i++) {
if (clients[i] != 0) {
nrf_setTxAddr(i+1); //slave channel
nrf_setRxAddr(0,i+1); //slave channel
if (nrf_send(&tx_buf,&rx_buf)) {
clients[i] = 1;
clientInfo[i] = 1;
} else {
clients[i]++;
if (clients[i] > 3) {
sendLiteralBytes("Client Disconnected!\n");
clients[i] = 0;
clientInfo[i] = 0;
}
for (l=0; l<MAX_CLIENTS; l++) {
if (clients[l] == 0) {
nextSlot = l;
break;
}
}
}
}
}
}
}
void init_beacon(void){
nrf_init();
openbeaconSetup();
}
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();
}
}
////////////////////////////////////////////////////////////////////////////////
//// ////
//// Sender Code ////
//// ////
////////////////////////////////////////////////////////////////////////////////
void senderMain() {
int fixweirdbehavior;
unsigned char status;
short i;
char mode;
short offset;
//OpenADC(ADC_FOSC_64 & ADC_RIGHT_JUST & ADC_20_TAD, ADC_CH0 & ADC_INT_OFF, 0b0000);
nrf_init();
delay();
nrf_txmode();
delay();
PIE1bits.RC1IE = SET; //enables peripheral interrupts for serial
INTCONbits.TMR0IE = 0;
INTCONbits.TMR0IF = 0;
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
LED_RED = 0;
LED_GREEN = 0;
// mode = 0;
// while(1) {
// //while (!PIR1bits.RC1IF);
// //LED_RED = 1;
// //readSerialIntoBuffer(led_buffer);
// //LED_RED = 0;
// //delay();
//
// mode = !mode;
// led_buffer[3] = mode ? 25 : 0;
// led_buffer[4] = mode ? 25 : 0;
// led_buffer[5] = mode ? 25 : 0;
// sendStrip();
// //STATUS_LED = 0;
// }
mode = 0;
offset = 0;
//LED_GREEN = 0;
while(1) {
//LED_RED++;
offset ++;
if (offset >= 125) offset = 0;
//value = readPotentiometer();
//value = value >> 4;
//value = value >> 1;
//if (value > 124) value = 124;
//offset = value;
//if (value > offset) offset++;
//if (value < offset) offset--;
// if (mode) {
// clearStrip(0,0,0);
// setLED(offset,10,10,10);
//} else {
for (i = 0; i<125; i++) {
led_buffer[3*i] = 10*((i+offset) % 3 == 0);
led_buffer[3*i+1] = 10*((i+offset) % 3 == 1);
led_buffer[3*i+2] = 10*((i+offset) % 3 == 2);
}
//åloadPayload
//writeSource(offset);
//}
//Delay10KTCYx(50);
sendStrip();
//sendStrip();
}
//CloseADC();
}
int main(void)
{
/* 2 bit for pre-emption priority, 2 bits for subpriority */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
setup_systick();
enable_tick_count();
setup_io_leds();
setup_io_usb();
init_sensor_config();
GYRO_INIT();
ACC_INIT();
MAG_INIT();
nrf_init();
nrf_detect();
nrf_rx_mode_dual(nrf_addr, 5, 40);
{
uint8_t status = nrf_read_reg(NRF_STATUS);
nrf_write_reg(NRF_FLUSH_RX, 0xff);
nrf_write_reg(NRF_FLUSH_TX, 0xff);
nrf_write_reg(NRF_WRITE_REG|NRF_STATUS,status); // clear IRQ flags
}
pwm_input_init();
USB_Init();
acc_scale_factor = calc_acc_scale(200);
compute_gyro_runtime_bias(sensors.gyro_rt_bias, 1000);
// wait usb ready
//while ((bDeviceState != CONFIGURED)&&(USBConnectTimeOut != 0))
//{}
current_mode = DT_ATT;
// endless loop
while(1)
{
uint8_t buf[64];
if(frame_100Hz){
frame_100Hz = 0;
buf[0] = 0;
if(current_mode == DT_RCDATA){
prepare_rc_data(buf);
usb_send_data(buf,64);
}else if(current_mode == DT_SENSOR){
buf[0] = DT_SENSOR;
buf[1] = 9;
read_raw_gyro((int16_t*)(buf+2));
read_raw_acc((int16_t*)(buf+8));
read_raw_mag((int16_t*)(buf+14));
usb_send_data(buf,64);
}
if(buf[0]){
usb_send_data(buf,64);
}
}
if(sensor_data_ready){
sensor_data_ready = 0;
if(sensors.sumTime_us){
update_AHRS();
if(current_mode == DT_ATT){
buf[0] = DT_ATT;
buf[1] = 3;
sensors.height = 0.0;
memcpy(buf+2,sensors.attitude,sizeof(sensors.attitude) + 4);
usb_send_data(buf,64);
}
LED4_TOGGLE;
LED5_TOGGLE;
LED10_TOGGLE;
}
// process sensor data
}
if(frame_200Hz){
frame_200Hz = 0;
// if L3GD20 already contains gyro data, rising edge will not occur
if( (current_mode == DT_ATT) && (gyro_hungry>1) ){
if(L3GD20_INT2){
int16_t gyro[3];
read_raw_gyro(gyro);
}
}
if(gyro_hungry < 10)
gyro_hungry++;
}
if(frame_1Hz){
frame_1Hz = 0;
LED3_TOGGLE;
}
}
}
//
// Main program loop.
//
int main(void)
{
unsigned char memflags;
unsigned char action;
unsigned char stage;
unsigned char timeidx;
unsigned char i;
time = 0;
__disable_interrupt();
InitialiseSystemClock();
InitialiseUSART();
InitialiseTIM2();
spi_init();
nrf_init();
network_init(RF_ROLE_TX);
__enable_interrupt();
delay_ms(1000);
#ifdef DUMP
nrf_setrx();
#endif
#ifdef CITY
cities_init();
timeidx = 0;
memflags = 0;
my_info.type = TYPE_CITY;
my_info.team = NO_TEAM;
my_info.id = MY_ID;
my_info.units = CITY_UNITS;
my_info.mode = MODE_DEFENSE;
my_info.level = 0;
pk_out.node_from = my_info.id;
pk_out.type = my_info.type;
for (i = 0;i<10;i++){
pk_out.teams[i] = 0xFF;
pk_out.times[i] = 0xFF;
}
#endif
#ifdef SOURCE
my_info.type = TYPE_SOURCE;
my_info.team = NO_TEAM;
my_info.id = MY_ID;
pk_out.node_from = my_info.id;
pk_out.type = my_info.type;
#endif
// Configure pins
PB_DDR = (1<<5);
PB_CR1 = (1<<5);
// PB_ODR ^= (1<<5);
// Loop
do {
// PB_ODR ^= (1<<5);
#ifdef DUMP
nrf_listen();
delay_ms(10);
nrf_nolisten();
if (nrf_receive(data,32)){
nrf_listen();
puts("Data:");
for (i=0;i<32;i++){
putchex(data[i]);
putc(' ');
}
puts("\n");
}
#endif
#ifdef SOURCE
pk_out.team = my_info.team;
pk_out.units = SOURCE_UNITS;
pk_out.action = ACTION_SOURCE;
pk_out.node_to = 0;
if (memflags & FL_SEC){
PB_ODR ^= (1<<5);
network_send(&pk_out,0);
}
delay_ms(100);
#endif
#ifdef CITY
pk_out.team = my_info.team;
if (memflags & FL_SEC){
puts("Team: ");
putchex(my_info.team);
puts(" level: ");
putchex(my_info.level);
puts(" units: ");
putchex(my_info.units);
puts(" uplevel: ");
putchex(my_info.uplevel);
putchex(timeidx);
putc('\n');
cities_broadcast();
if (time%(10-CITY_MAXLEVEL) == 0){
if (my_info.units < CITY_MAXUNITS){
my_info.units++;
} else if (my_info.uplevel < CITY_LEVEL_UP){
my_info.uplevel++;
} else {
my_info.uplevel = 0;
if (my_info.level < CITY_MAXLEVEL){
my_info.level++;
}
}
}
if (time%60 == 0){
pk_out.teams[timeidx]=my_info.team;
pk_out.times[timeidx]=time/60;
timeidx++;
timeidx %= 10;
}
}
network_arcv_stop();
delay_us(100);
while (network_arcv(&pk_in)){
if (my_info.units==0){
break;
}
PB_ODR ^= (1<<5);
if (pk_in.action == ACTION_BROADCAST){
if ((pk_in.team == my_info.team)&&(my_info.units >=1)){
transfer_start(pk_in.node_from);
}
} else {
if (pk_in.node_to == my_info.id){
cities_city_process_action();
puts("Processing\n");
}
}
}
delay_us(100);
network_arcv_start();
delay_ms(100);
#endif
memflags = flags;
flags = 0;
} while(1);
}
void main_bridge(void)
{
GLOBAL(daytrig)=10;
GLOBAL(lcdbacklight)=10;
GLOBAL(privacy) = 3;
char input[64];
char led1=0;
char led2=0;
usbCDCInit();
delayms(500);
nrf_init();
nrf_config_set(&config);
nrf_rcv_pkt_start();
while(1){
int l, i, status;
CDC_OutBufAvailChar (&l);
if(l>0){
gpioSetValue (RB_LED0, led1);led1=1-led1;
CDC_RdOutBuf (input, &l);
for(i=0; i<l; i++){
uint8_t cmd = serialmsg_put(input[i]);
if( cmd != SERIAL_NONE ){
switch( cmd ){
case '1':
// can we loose packets here?
nrf_rcv_pkt_end();
status=snd_pkt_no_crc(serialmsg_len, serialmsg_message);
//status=nrf_snd_pkt_crc(serialmsg_len, serialmsg_message);
nrf_rcv_pkt_start();
break;
case '3':
memcpy(config.txmac, serialmsg_message, 5);
nrf_config_set(&config);
break;
case '4':
memcpy(config.mac0, serialmsg_message, 5);
nrf_config_set(&config);
break;
case '5':
config.channel=serialmsg_message[0];
nrf_config_set(&config);
break;
case '6':
config.maclen[0]=serialmsg_message[0];
nrf_config_set(&config);
break;
case '7':
puts("\\7");
char s[sizeof(uint32_t)+1];
*((uint32_t*)s) =GetUUID32();
s[sizeof(uint32_t)]=0;
puts(s);
puts("\\0");
break;
};
puts("\\2\\0");
}
}
}
int len;
uint8_t buf[32];
len=nrf_rcv_pkt_poll(sizeof(buf),buf);
if( len > 0 ){
gpioSetValue (RB_LED2, led2);led2=1-led2;
puts("\\1");
dump_encoded(len, buf);
puts("\\0");
}
}
}
void nrf_check_reset(void){
if(nrf_cmd_status(C_NOP) & R_STATUS_MAX_RT){
_nrfresets++;
nrf_init();
};
};
