void radio_hdlr(uint8_t evt, void *data)
{
struct radio_packet *packet = data;
if (evt != RADIO_EVT_RX_COMPLETED) {
ERROR("Unexpected radio evt: %u", evt);
return;
}
if (!packet->crcstatus) {
DBG("ch %u bad crc", channels[idx]);
goto recv;
}
/* Link Layer specification section 2.3, Core 4.1, page 2505
*
* The length is the 6 LSB, and the minimum allowed payload is 6 bytes.
*/
if ((packet->pdu[1] & 0x3F) < 6) {
DBG("ch %u bad length", channels[idx]);
goto recv;
}
DBG("ch %u (%s)", channels[idx], format_address(data + 2));
recv:
radio_recv(channels[idx], ADV_CHANNEL_AA, ADV_CHANNEL_CRC);
}
void scan_interval_timeout(void *user_data)
{
idx = (idx + 1) % sizeof(channels);
radio_recv(channels[idx], ADV_CHANNEL_AA, ADV_CHANNEL_CRC);
timer_start(scan_window, SCAN_WINDOW, NULL);
}
/** Callback function for the "interval" LL timer
*/
static void t_ll_interval_cb(void)
{
switch(current_state) {
case LL_STATE_ADVERTISING:
adv_ch_idx = first_adv_ch_idx();
t_ll_single_shot_cb();
break;
case LL_STATE_SCANNING:
if(!inc_adv_ch_idx())
adv_ch_idx = first_adv_ch_idx();
radio_prepare(adv_chs[adv_ch_idx],
LL_ACCESS_ADDRESS_ADV, LL_CRCINIT_ADV);
radio_recv(0);
timer_start(t_ll_single_shot, t_scan_window);
break;
case LL_STATE_INITIATING:
case LL_STATE_CONNECTION:
/* Not implemented */
case LL_STATE_STANDBY:
default:
/* Nothing to do */
return;
}
}
int main()
{
log_serial = new Serial(DEBUG_TX, DEBUG_RX);
log_serial->baud(9600);
DigitalIn sw2(SW2);
DigitalIn sw3(SW3);
for (int i = 0; i < SERVO_COUNT; i++) {
paint_heads[i] = PAINT_NEUTRAL;
}
radio_init(1500);
const uint64_t remote_addr64 = UINT64(0x0013A200, 0x40d4f162);
const XBeeLib::RemoteXBeeZB remoteDevice = XBeeLib::RemoteXBeeZB(
remote_addr64);
packet pkt;
const char *data = "what's up man?";
strncpy((char *) &pkt.data, data, 100);
pkt.len = strlen(data);
radio_send(pkt);
radio_bcast(pkt);
radio_send(pkt, remoteDevice);
uint8_t current_head = 0;
log_serial->printf("Hello!\r\n");
while (true) {
packet pkt;
if (radio_recv(pkt, 0)) {
printf(
"\r\nGot a %s RX packet [%08lx:%08lx|%04x], "
"len %d\r\nData: ",
pkt.broadcast ? "BROADCAST" : "UNICAST",
uint32_t (pkt.remote_addr64 >> 32),
uint32_t (pkt.remote_addr64 & 0xFFFFFFFF),
pkt.remote_addr16,
pkt.len);
printf("%.*s\r\n", pkt.len, pkt.data);
}
if (sw2 == 0) {
printf("painting\r\n");
while (sw2 == 0);
paint_heads[current_head % SERVO_COUNT] = PAINT_SPRAY;
wait(PAINT_TIME);
paint_heads[current_head % SERVO_COUNT] = PAINT_NEUTRAL;
}
if (sw3 == 0) {
printf("head %d\r\n", current_head);
current_head++;
while (sw3 == 0);
}
}
/**@brief Function called by the radio driver (PHY layer) on packet RX
* Dispatch the event according to the LL state
*/
static void ll_on_radio_rx(const uint8_t *pdu, bool crc, bool active)
{
struct ll_pdu_adv *rcvd_pdu = (struct ll_pdu_adv*) pdu;
switch(current_state) {
case LL_STATE_SCANNING:
if(!ll_adv_report_cb) {
ERROR("No adv. report callback defined");
return;
}
/* Extract information from PDU and call
* ll_adv_report_cb
*/
ll_adv_report_cb(rcvd_pdu->type, rcvd_pdu->tx_add,
rcvd_pdu->payload,
rcvd_pdu->length - BDADDR_LEN,
rcvd_pdu->payload + BDADDR_LEN);
/* Receive new packets while the radio is not explicitly
* stopped
*/
radio_recv(0);
break;
case LL_STATE_ADVERTISING:
if (pdu_adv.type != LL_PDU_ADV_IND &&
pdu_adv.type != LL_PDU_ADV_SCAN_IND)
break;
if (rcvd_pdu->type != LL_PDU_SCAN_REQ)
break;
timer_stop(t_ll_ifs);
send_scan_rsp(rcvd_pdu);
break;
case LL_STATE_INITIATING:
case LL_STATE_CONNECTION:
case LL_STATE_STANDBY:
default:
/* Nothing to do */
return;
}
}
int main(void)
{
log_init();
timer_init();
radio_init(radio_hdlr);
scan_window = timer_create(TIMER_SINGLESHOT, scan_window_timeout);
scan_interval = timer_create(TIMER_REPEATED, scan_interval_timeout);
radio_recv(channels[idx], ADV_CHANNEL_AA, ADV_CHANNEL_CRC);
timer_start(scan_window, SCAN_WINDOW, NULL);
timer_start(scan_interval, SCAN_INTERVAL, NULL);
while (1);
return 0;
}
void *th_recv( void *arg ){
my_info_t *buf;
rf_pkt recv_buf;
uint8_t i;
while(1){
if( radio_recv(RADIO_PORT, (rf_pkt*)&recv_buf ) > 0 ){
buf = (my_info_t*)&recv_buf;
uint8_t idx = buf->id;
pthread_mutex_lock( &mutex_lock );
nb_table[idx].x = buf->x;
nb_table[idx].y = buf->y;
nb_table[idx].d =
ptod(
nb_table[LOCAL_ADDR].x, nb_table[LOCAL_ADDR].y,
nb_table[idx].x, nb_table[idx].y
);
if( nb_table[idx].life < 5 ) nb_table[idx].life++;
pthread_mutex_unlock( &mutex_lock );
led2_toggle();
}
else
continue;
uint8_t cnt = 0;
for( i = 0; i < MAX_NB_CNT; i++ ){
if( nb_table[i].life > 0 ) cnt++;
}
if( cnt >= 3 ){
my_info.level = MTSL_LEVEL3;
}
}
}
