void radio_rxhandler(uint8_t pipenumber) {
if (_rx_packet.header.type == EMPTY) {
Radio_Receive(&_rx_packet, sizeof(_rx_packet));
} else {
puts("RX: dropping packet");
}
}
/*
* To be completed.
* This is the side where we decompose the content of the packet
* and find out what command was sent from the Base Station
*/
void radio_rxhandler(uint8_t pipenumber)
{
// Serial.println("radio_rxhandler");
Radio_Receive(&packet);
if (packet.type == COMMAND) {
Serial.println("Received Command");
switch (packet.payload.hovercraftData.command) {
case NONE:
Serial.println("Command is NONE");
break;
case TURN_LEFT:
Serial.println("Command is TURN_LEFT");
break;
case TURN_RIGHT:
Serial.println("Command is TURN_RIGHT");
break;
case NEXT_LEFT:
Serial.println("Command is NEXT_LEFT");
break;
case NEXT_RIGHT:
Serial.println("Command is NEXT_RIGHT");
break;
case STOP:
Serial.println("Command is STOP");
command = STOP;
break;
case FORWARD:
Serial.println("Command is FORWARD");
command = FOLLOW_WALL;
break;
case REVERSE:
Serial.println("Command is REVERSE");
break;
case FOLLOW_WALL:
Serial.println("Command is FOLLOW_WALL");
break;
default:
break;
}
}
}
int main()
{
init();
pinMode(14, OUTPUT);
pinMode(15, OUTPUT);
digitalWrite(15, LOW);
pinMode(radioPowerPin, OUTPUT); // power cycle radio
digitalWrite(radioPowerPin, LOW);
delay(100);
digitalWrite(radioPowerPin, HIGH);
delay(100);
pinMode(sonarPowerPin, OUTPUT);
pinMode(sonarGroundPin, OUTPUT);
digitalWrite(sonarGroundPin, LOW);
digitalWrite(sonarPowerPin, HIGH);
Sonar_Init();
Radio_Init();
Radio_Configure(RADIO_2MBPS, RADIO_HIGHEST_POWER);
Radio_Configure_Rx(RADIO_PIPE_0, sensor_address, ENABLE);
for (;;)
{
if (radio_flag)
{
radio_flag = 0;
Radio_Receive(&packet); // assumption: radio FIFO contains just one packet
if (packet.type == REQUEST_ECHO)
{
Sonar_PreTrigger();
Radio_Set_Tx_Addr(packet.payload.request.return_address);
packet.type = CONFIRM_ECHO;
packet.payload.confirm.station_id = STATION_ID;
Radio_Transmit(&packet, RADIO_WAIT_FOR_TX);
// sonar is triggered as soon as the explorer acknowledges it received the confirmation
Sonar_Trigger();
delay(50);
digitalWrite(14, LOW);
}
packet.type = EMPTY;
}
}
for (;;);
return 0;
}
