void unit_aversive(void)
{
int16_t a, x, y;
aversive_goto_xy_abs(&aversive_device, 100, 100);
wait_done(&aversive_device);
aversive_get_pos(&aversive_device, &a, &x, &y);
lcd_string(3, 0, uint16_to_string((uint16_t)x));
lcd_string(3, 30, uint16_to_string((uint16_t)y));
}
static void do_addr(const char* line, uint8_t len)
{
uint16_t tmp;
skip_ws(&line, &len);
if (len == 0)
{
/* get address value */
write_ok();
uart_write((const uint8_t*)uint16_to_string(mem_addr), 4);
write_eol();
}
else
{
/* set address value */
if (string_to_uint16(line, &tmp)) goto on_error;
mem_addr = tmp;
write_ok();
}
return ;
on_error:
write_ko();
return ;
}
/*********************************************************************
* @fn controlBLECentralEventCB
*
* @brief Central event callback function.
*
* @param pEvent - pointer to event structure
*
* @return none
*/
static void controlBLECentralEventCB( gapCentralRoleEvent_t *pEvent )
{
switch ( pEvent->gap.opcode )
{
case GAP_DEVICE_INIT_DONE_EVENT:
{
//LCD_WRITE_STRING( "BLE Central", HAL_LCD_LINE_1 );
// LCD_WRITE_STRING( bdAddr2Str( pEvent->initDone.devAddr ), HAL_LCD_LINE_2 );
}
/***wkxboot***/
app_write_string("hello wkxboot&ble4.0!\r\n");
app_write_string("central role init done. own addr is:");
app_write_string(bdAddr2Str(pEvent->initDone.devAddr));
wkxboot_start_discover();
break;
case GAP_DEVICE_INFO_EVENT:
{
app_write_string("\r\nfind device addr is:");
app_write_string(bdAddr2Str( pEvent->deviceInfo.addr ));
// if filtering device discovery results based on service UUID
if ( DEFAULT_DEV_DISC_BY_SVC_UUID == TRUE )
{
if ( simpleBLEFindSvcUuid( PARAM_BLE_CAR_IN_PROFILE_SERV_UUID,
pEvent->deviceInfo.pEvtData,
pEvent->deviceInfo.dataLen ) )
{
simpleBLEAddDeviceInfo( pEvent->deviceInfo.addr, pEvent->deviceInfo.addrType );
}
}
/****wkxboot***/
// simpleBLEAddDeviceInfo( pEvent->deviceInfo.addr, pEvent->deviceInfo.addrType );
}
break;
case GAP_DEVICE_DISCOVERY_EVENT:
{
// discovery complete
simpleBLEScanning = FALSE;
// if not filtering device discovery results based on service UUID
if ( DEFAULT_DEV_DISC_BY_SVC_UUID == FALSE )
{
// Copy results
simpleBLEScanRes = pEvent->discCmpl.numDevs;
osal_memcpy( simpleBLEDevList, pEvent->discCmpl.pDevList,
(sizeof( gapDevRec_t ) * pEvent->discCmpl.numDevs) );
}
//LCD_WRITE_STRING_VALUE( "Devices Found", simpleBLEScanRes,
// 10, HAL_LCD_LINE_1 );
if ( simpleBLEScanRes > 0 )
{
LCD_WRITE_STRING( "<- To Select", HAL_LCD_LINE_2 );
}
// initialize scan index to last device
simpleBLEScanIdx = simpleBLEScanRes;
/****wkxboot***/
app_write_string("scan completed!!\r\n");
app_write_string("scan num is:");
app_write_string(uint8_to_string(simpleBLEScanRes));
if(simpleBLEScanIdx--)
{
wkxboot_start_connect();
}
else
{
wkxboot_start_discover();
}
}
break;
case GAP_LINK_ESTABLISHED_EVENT:
{
if ( pEvent->gap.hdr.status == SUCCESS )
{
simpleBLEState = BLE_STATE_CONNECTED;
simpleBLEConnHandle = pEvent->linkCmpl.connectionHandle;
simpleBLEProcedureInProgress = TRUE;
// If service discovery not performed initiate service discovery
if ( simpleBLECharHdl == 0 )
{
osal_start_timerEx( simpleBLETaskId, START_DISCOVERY_EVT, DEFAULT_SVC_DISCOVERY_DELAY );
}
//LCD_WRITE_STRING( "Connected", HAL_LCD_LINE_1 );
// LCD_WRITE_STRING( bdAddr2Str( pEvent->linkCmpl.devAddr ), HAL_LCD_LINE_2 );
app_write_string("connected peeraddr is:");
app_write_string(bdAddr2Str(pEvent->linkCmpl.devAddr));
app_write_string("connected connhandle is:");
app_write_string(uint16_to_string(simpleBLEConnHandle));
app_write_string("start to read RSSI!\r\n");
GAPCentralRole_StartRssi( simpleBLEConnHandle, DEFAULT_RSSI_PERIOD );
app_write_string("start to find services.....\r\n");
}
else
{
simpleBLEState = BLE_STATE_IDLE;
simpleBLEConnHandle = GAP_CONNHANDLE_INIT;
simpleBLERssi = FALSE;
simpleBLEDiscState = BLE_DISC_STATE_IDLE;
//LCD_WRITE_STRING( "Connect Failed", HAL_LCD_LINE_1 );
//LCD_WRITE_STRING_VALUE( "Reason:", pEvent->gap.hdr.status, 10, HAL_LCD_LINE_2 );
app_write_string("connect failed!reason is:");
app_write_string(uint8_to_string(pEvent->gap.hdr.status));
}
}
break;
case GAP_LINK_TERMINATED_EVENT:
{
simpleBLEState = BLE_STATE_IDLE;
simpleBLEConnHandle = GAP_CONNHANDLE_INIT;
simpleBLERssi = FALSE;
simpleBLEDiscState = BLE_DISC_STATE_IDLE;
simpleBLECharHdl = 0;
simpleBLEProcedureInProgress = FALSE;
// LCD_WRITE_STRING( "Disconnected", HAL_LCD_LINE_1 );
// LCD_WRITE_STRING_VALUE( "Reason:", pEvent->linkTerminate.reason,
// 10, HAL_LCD_LINE_2 );
app_write_string("disconnected !reason is:");
app_write_string(uint8_to_string(pEvent->gap.hdr.status));
app_write_string("scan again!!\r\n");
wkxboot_start_discover();
}
break;
case GAP_LINK_PARAM_UPDATE_EVENT:
{
// LCD_WRITE_STRING( "Param Update", HAL_LCD_LINE_1 );
app_write_string("link param update!\r\n");
}
break;
default:
break;
}
}
/*********************************************************************
* @fn simpleBLEGATTDiscoveryEvent
*
* @brief Process GATT discovery event
*
* @return none
*/
static void simpleBLEGATTDiscoveryEvent( gattMsgEvent_t *pMsg )
{
attReadByTypeReq_t req;
if ( simpleBLEDiscState == BLE_DISC_STATE_SVC )
{
// Service found, store handles
if ( pMsg->method == ATT_FIND_BY_TYPE_VALUE_RSP &&
pMsg->msg.findByTypeValueRsp.numInfo > 0 )
{
simpleBLESvcStartHdl = pMsg->msg.findByTypeValueRsp.handlesInfo[0].handle;
simpleBLESvcEndHdl = pMsg->msg.findByTypeValueRsp.handlesInfo[0].grpEndHandle;
app_write_string("find service start is:");
app_write_string(uint16_to_string(simpleBLESvcStartHdl));
app_write_string("find service end is:");
app_write_string(uint16_to_string(simpleBLESvcEndHdl));
}
// If procedure complete
if ( ( pMsg->method == ATT_FIND_BY_TYPE_VALUE_RSP &&
pMsg->hdr.status == bleProcedureComplete ) ||
( pMsg->method == ATT_ERROR_RSP ) )
{
if ( simpleBLESvcStartHdl != 0 )
{
// Discover characteristic
simpleBLEDiscState = BLE_DISC_STATE_CHAR;
req.startHandle = simpleBLESvcStartHdl;
req.endHandle = simpleBLESvcEndHdl;
req.type.len = ATT_BT_UUID_SIZE;
req.type.uuid[0] = LO_UINT16(PARAM_BLE_CAR_IN_CHAR_UUID);
req.type.uuid[1] = HI_UINT16(PARAM_BLE_CAR_IN_CHAR_UUID);
GATT_ReadUsingCharUUID( simpleBLEConnHandle, &req, simpleBLETaskId );
app_write_string("start to read charac.\r\n");
}
/****wkxboot***/
else
{
app_write_string("ATT_ERROR_RSP.\r\n");
}
}
}
else if ( simpleBLEDiscState == BLE_DISC_STATE_CHAR )
{
// Characteristic found, store handle
if ( pMsg->method == ATT_READ_BY_TYPE_RSP &&
pMsg->msg.readByTypeRsp.numPairs > 0 )
{
simpleBLECharHdl = BUILD_UINT16( pMsg->msg.readByTypeRsp.dataList[0],
pMsg->msg.readByTypeRsp.dataList[1] );
app_write_string("Simple Svc Found.char handle is:\r\n");
app_write_string(uint16_to_string(simpleBLECharHdl));
/***wkxboot***/
//LCD_WRITE_STRING( "Simple Svc Found", HAL_LCD_LINE_1 );
simpleBLEProcedureInProgress = FALSE;
}
/***wkxboot***/
simpleBLEDiscState = BLE_DISC_STATE_IDLE;
/***wkxboot***/
}
}
int main(void)
{
uint16_t counter;
uint8_t x;
#define CONFIG_CHECK 0
#if CONFIG_CHECK
uint16_t error;
#endif
/* setup spi first */
spi_setup_master();
spi_set_sck_freq(SPI_SCK_FREQ_FOSC2);
uart_setup();
/* setup timer1, normal mode, interrupt on match 0xffff */
OCR1A = 0xffff;
TCCR1A = 0;
TCCR1B = 0;
TCCR1C = 0;
TIMSK1 = 1 << 1;
/* enable interrupts */
sei();
nrf24l01p_setup();
/* sparkfun usb serial board configuration */
/* NOTE: nrf24l01p_enable_crc8(); for nrf24l01p board */
/* nrf24l01p_enable_crc16(); */
nrf24l01p_disable_crc();
/* auto ack disabled */
/* auto retransmit disabled */
/* 4 bytes payload */
/* 1mbps, 0dbm */
/* nrf24l01p_set_rate(NRF24L01P_RATE_1MBPS); */
nrf24l01p_set_rate(NRF24L01P_RATE_2MBPS);
/* nrf24l01p_set_rate(NRF24L01P_RATE_250KBPS); */
/* channel 2 */
nrf24l01p_set_chan(2);
/* 5 bytes addr width */
/* nrf24l01p_set_addr_width(NRF24L01P_ADDR_WIDTH_5); */
nrf24l01p_set_addr_width(NRF24L01P_ADDR_WIDTH_3);
/* rx address */
nrf24l01p_cmd_buf[0] = 0xe7;
nrf24l01p_cmd_buf[1] = 0xe7;
nrf24l01p_cmd_buf[2] = 0xe7;
nrf24l01p_cmd_buf[3] = 0xe7;
nrf24l01p_cmd_buf[4] = 0xe7;
nrf24l01p_write_reg40(NRF24L01P_REG_RX_ADDR_P0);
/* tx address */
nrf24l01p_cmd_buf[0] = 0xe7;
nrf24l01p_cmd_buf[1] = 0xe7;
nrf24l01p_cmd_buf[2] = 0xe7;
nrf24l01p_cmd_buf[3] = 0xe7;
nrf24l01p_cmd_buf[4] = 0xe7;
nrf24l01p_write_reg40(NRF24L01P_REG_TX_ADDR);
/* enable tx no ack command */
nrf24l01p_enable_tx_noack();
nrf24l01p_powerdown_to_standby();
uart_write((uint8_t*)"rx side\r\n", 9);
redo_receive:
#if CONFIG_CHECK
error = 0;
#endif
counter = 0;
is_timer1_irq = 0;
uart_write((uint8_t*)"press space\r\n", 13);
uart_read_uint8(&x);
uart_write((uint8_t*)"starting\r\n", 10);
nrf24l01p_standby_to_rx();
/* wait for the starting packet */
if (nrf24l01p_is_rx_full()) nrf24l01p_flush_rx();
while (nrf24l01p_is_rx_irq() == 0) ;
nrf24l01p_read_rx();
/* clock source disabled, safe to access 16 bits counter */
TCNT1 = 0;
/* prescaler set to 256 */
/* interrupt every 16000000 / (65535 * 256) = 0.954 s */
TCCR1B = 1 << 2;
while (1)
{
if (is_timer1_irq == 1)
{
break ;
}
else if (nrf24l01p_is_rx_irq())
{
#if CONFIG_CHECK
uint8_t i;
for (i = 0; i < NRF24L01P_PAYLOAD_WIDTH; ++i)
nrf24l01p_cmd_buf[i] = 0x00;
#endif
nrf24l01p_read_rx();
#if CONFIG_CHECK
for (i = 0; i < NRF24L01P_PAYLOAD_WIDTH; ++i)
{
if (nrf24l01p_cmd_buf[i] != (0x2a + i))
{
++error;
break ;
}
}
#endif
++counter;
}
}
/* print counter */
uart_write((uint8_t*)"counter: ", 9);
uart_write((uint8_t*)uint16_to_string(counter), 4);
uart_write((uint8_t*)"\r\n", 2);
#if CONFIG_CHECK
/* print error */
uart_write((uint8_t*)"error: ", 7);
uart_write((uint8_t*)uint16_to_string(error), 4);
uart_write((uint8_t*)"\r\n", 2);
#endif
/* still in rx mode */
nrf24l01p_set_standby();
goto redo_receive;
return 0;
}
int main(void)
{
uint16_t counter;
uint8_t x;
/* setup spi first */
spi_setup_master();
spi_set_sck_freq(SPI_SCK_FREQ_FOSC2);
uart_setup();
/* setup timer1, normal mode, interrupt on match 0x8000 */
OCR1A = 0x8000;
TCCR1A = 0;
TCCR1B = 0;
TCCR1C = 0;
TIMSK1 = 1 << 1;
/* enable interrupts */
sei();
nrf24l01p_setup();
/* sparkfun usb serial board configuration */
/* NOTE: nrf24l01p_enable_crc8(); for nrf24l01p board */
/* nrf24l01p_enable_crc16(); */
nrf24l01p_disable_crc();
/* auto ack disabled */
/* auto retransmit disabled */
/* 4 bytes payload */
/* 1mbps, 0dbm */
/* nrf24l01p_set_rate(NRF24L01P_RATE_1MBPS); */
nrf24l01p_set_rate(NRF24L01P_RATE_2MBPS);
/* nrf24l01p_set_rate(NRF24L01P_RATE_250KBPS); */
/* channel 2 */
nrf24l01p_set_chan(2);
/* 5 bytes addr width */
/* nrf24l01p_set_addr_width(NRF24L01P_ADDR_WIDTH_5); */
nrf24l01p_set_addr_width(NRF24L01P_ADDR_WIDTH_3);
/* rx address */
nrf24l01p_cmd_buf[0] = 0xe7;
nrf24l01p_cmd_buf[1] = 0xe7;
nrf24l01p_cmd_buf[2] = 0xe7;
nrf24l01p_cmd_buf[3] = 0xe7;
nrf24l01p_cmd_buf[4] = 0xe7;
nrf24l01p_write_reg40(NRF24L01P_REG_RX_ADDR_P0);
/* tx address */
nrf24l01p_cmd_buf[0] = 0xe7;
nrf24l01p_cmd_buf[1] = 0xe7;
nrf24l01p_cmd_buf[2] = 0xe7;
nrf24l01p_cmd_buf[3] = 0xe7;
nrf24l01p_cmd_buf[4] = 0xe7;
nrf24l01p_write_reg40(NRF24L01P_REG_TX_ADDR);
/* enable tx no ack command */
nrf24l01p_enable_tx_noack();
nrf24l01p_powerdown_to_standby();
uart_write((uint8_t*)"tx side\r\n", 9);
redo_transmit:
counter = 0;
is_timer1_irq = 0;
uart_write((uint8_t*)"press space\r\n", 13);
uart_read_uint8(&x);
uart_write((uint8_t*)"starting\r\n", 10);
nrf24l01p_standby_to_tx();
if (nrf24l01p_is_tx_empty() == 0) nrf24l01p_flush_tx();
/* clock source disabled, safe to access 16 bits counter */
TCNT1 = 0;
/* prescaler set to 1024 */
/* interrupt every 2.01s (match on 0x8000) */
TCCR1B = 5 << 0;
while (1)
{
#define CONFIG_CHECK 0
#if CONFIG_CHECK
uint8_t i;
for (i = 0; i < NRF24L01P_PAYLOAD_WIDTH; ++i)
nrf24l01p_cmd_buf[i] = 0x2a + i;
#endif
nrf24l01p_write_tx_noack();
while (nrf24l01p_is_tx_irq() == 0) ;
++counter;
if (is_timer1_irq == 1) break ;
}
/* print counter */
uart_write((uint8_t*)"counter: ", 9);
uart_write((uint8_t*)uint16_to_string(counter), 4);
uart_write((uint8_t*)"\r\n", 2);
goto redo_transmit;
return 0;
}
static void write_uint16(uint16_t x)
{
uart_write(uint16_to_string(x), 4);
write_eol();
}
