void radio_reset(void)
{
gpio_high(RESET);
delayms(150);
gpio_low(RESET);
delayus(100);
}
static void _change_mode(uint8_t mode)
{
HRF_writereg(HRF_ADDR_OPMODE, mode);
_wait_ready();
gpio_low(LED_GREEN); // TX OFF
gpio_low(LED_RED); // RX OFF
if (mode == HRF_MODE_TRANSMITTER)
{
_wait_txready();
gpio_high(LED_RED); // TX ON
}
else if (mode == HRF_MODE_RECEIVER)
{
gpio_high(LED_GREEN); // RX ON
}
radio_data.mode = mode;
}
/**
* Send a command strobe (one-byte register access that initiates an action)
*
* @returns status byte
*/
uint8_t cc2500_send_strobe(uint8_t reg) {
uint8_t status = 0;
gpio_low(cs_pin);
status = spi_write_byte(SPIx, reg);
gpio_high(cs_pin);
return status;
}
/**
* Access a configuration register on the CC2500
* NOT used for multi-byte registers or command strobes
*
* @returns status byte for writes, or value for reads
*/
uint8_t cc2500_write_register(uint8_t reg, uint8_t val) {
uint8_t status = 0;
gpio_low(cs_pin);
spi_write_byte(SPIx, reg);
status = spi_write_byte(SPIx, val);
gpio_high(cs_pin);
return status;
}
void motor_prepare(void)
{
// motor1
gpio_high(M1_EN);
gpio_high(M1_STEP);
gpio_high(M1_DIR);
gpio_out(M1_EN);
gpio_out(M1_STEP);
gpio_out(M1_DIR);
// motor2
gpio_high(M2_EN);
gpio_high(M2_STEP);
gpio_high(M2_DIR);
gpio_out(M2_EN);
gpio_out(M2_STEP);
gpio_out(M2_DIR);
// timer 1 FastPWM with interrupt
TCCR1A = _BV(WGM11);
TCCR1B = _BV(WGM12) | _BV(WGM13) | 1;
ICR1 = 0x0FFF; // 122Hz
TIMSK1 = _BV(TOIE1);
}
void blink(const ff_gpio *gpio)
{
int i;
printf("blink\n");
gpio_input(gpio);
gpio_output(gpio);
printf("Start loop\n");
for (i = 0; i < 10; ++i)
{
gpio_high(gpio);
sleep(1);
gpio_low(gpio);
sleep(1);
}
}
