void radioInitSetup() {
/*
* Initialize the SPI connection, configure the I/O pins,
* and set the register defaults
*/
Radio_Init();
/*
* Configure pipe 0 as a receiver. Pipe 0 has to be enabled
* for the radio's link layer protocol to work. This line
* shouldn't be necessary since pipe 0 is enabled by default,
* but it's nice to be explicit.
*/
Radio_Configure_Rx(RADIO_PIPE_0, RemoteStationAddr, ENABLE);
/*
* Configure the radio's data rate (must match the other radio)
* and the broadcast power
*/
Radio_Configure(RADIO_2MBPS, RADIO_HIGHEST_POWER);
/*
* set the address to send to, dangling prepositions be damned.
*/
Radio_Set_Tx_Addr(BaseStationAddr);
}
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;
}
void Net_SetNodeAddress(net_address addr) {
//TODO: write to EEPROM
Radio_Configure_Rx(0, addr, 1, 1);
memcpy(_node_address, addr, sizeof(_node_address));
}
void Net_Init(net_handlers* handlers) {
Radio_Init();
Radio_Configure(110, RADIO_250KBPS, RADIO_HIGH_POWER);
Radio_Configure_Rx(1, NET_BROADCAST, 1, 0);
_handlers = handlers;
}
