int main() {
//
// Disable the watchdog
//
WDTimerDisable();
xSysCtlClockSet32KhzFLLExt(); //48mhz from 32768khz external clock
xSysTickPeriodSet(xSysCtlClockGet()/SYSTICKS_PER_SECOND); //1ms
xSysTickIntEnable();
xSysTickEnable(); // End of SysTick init
ulClockMS = xSysCtlClockGet() / (3 * 1000);
pwmInit();
// Setup and configure rf radio
RF24 radio = RF24();
rf24_init(radio);
while (1) {
// if there is data ready
report_t gamepad_report;
if (!getNRF24report(&radio, &gamepad_report))
{
drive(&gamepad_report);
// if (gamepad_report.reportid == 1) {
// // Delay just a little bit to let the other unit
// // make the transition to receiver
// xSysCtlDelay(ulClockMS * 10);
//
// radio.stopListening();
// uint8_t response = 0;
// radio.write(&response, sizeof(uint8_t));
// radio.startListening();
// }
timeoutcounter = millis();
} else {
if ((millis() - timeoutcounter) > TIMEOUT) {
stopall();
xSysCtlDelay(ulClockMS * 10);
}
}
}
return 0;
}
int main (){
HardwareInit();
RF24 radio = RF24();
// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t pipes[2] = { 0xF0F0F0F0BELL, 0xF0F0F0F0EFLL };
setup_watchdog(wdt_64ms);
//
// Setup and configure rf radio
//
radio.begin();
radio.setChannel(100);
// optionally, increase the delay between retries & # of retries
radio.setRetries(15,15);
// optionally, reduce the payload size. seems to
// improve reliability
radio.setPayloadSize(sizeof(report_t));
radio.setDataRate(RF24_250KBPS);
radio.openWritingPipe(pipes[0]);
radio.openReadingPipe(1,pipes[1]);
radio.startListening();
radio.stopListening();
//unsigned long pa = 0;
uint8_t counter = 0;
//check eeprom
if (eeprom_read_byte(0)==EEPROM_MAGIC_NUMBER){
minx=(char)eeprom_read_byte((uint8_t*)1);
maxx=(char)eeprom_read_byte((uint8_t*)2);
miny=(char)eeprom_read_byte((uint8_t*)3);
maxy=(char)eeprom_read_byte((uint8_t*)4);
minrx=(char)eeprom_read_byte((uint8_t*)5);
maxrx=(char)eeprom_read_byte((uint8_t*)6);
minry=(char)eeprom_read_byte((uint8_t*)7);
maxry=(char)eeprom_read_byte((uint8_t*)8);
calibrated=true;
#ifdef DEBUG
print_string("read eeprom magic number");
char temp[100];
sprintf(temp,"minx:%d maxx:%d minry:%d maxry:%d \n",minx,maxx,minry,maxry);
print_string(temp);
_delay_ms(2000);
#endif
}
while(1){
ReadController();
#ifdef DEBUG
char temp[100];
print_string("before convert\n");
sprintf(temp,"hat:%u x:%d y:%d rx:%d ry:%d b1:%u b2:%u\n",reportBuffer.hat,(int8_t)reportBuffer.x,(int8_t)reportBuffer.y,(int8_t)reportBuffer.rx,(int8_t)reportBuffer.ry,reportBuffer.b1,reportBuffer.b2);
print_string(temp);
#endif
convertAxes();
#ifdef DEBUG
sprintf(temp,"hat:%u x:%d y:%d rx:%d ry:%d b1:%u b2:%u\n",reportBuffer.hat,(int8_t)reportBuffer.x,(int8_t)reportBuffer.y,(int8_t)reportBuffer.rx,(int8_t)reportBuffer.ry,reportBuffer.b1,reportBuffer.b2);
print_string(temp);
#endif
//Calibration
if(A_PRESSED && B_PRESSED && Z_PRESSED && L_PRESSED && R_PRESSED){
calibrate();
}
counter=(counter+1)%20;
sendData(counter==0,radio);
do_sleep();
}
//never reached
return 0;
}
