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);
}
/*************************************************************************
* Initiate the radio and mac *
*************************************************************************/
void mac_init()
{
Radio_Init();
#ifdef RADIO_CHANNEL
Radio_Set_Channel(RADIO_CHANNEL);
#else
Radio_Set_Channel(13);
#endif
#ifdef SOS_USE_PREEMPTION
ker_register_module(sos_get_header_address(mod_header));
#else
sched_register_kernel_module(&vmac_module, sos_get_header_address(mod_header), NULL);
#endif
// Timer needs to be done after reigsteration
ker_permanent_timer_init(&wakeup_timer, RADIO_PID, WAKEUP_TIMER_TID, TIMER_ONE_SHOT);
mq_init(&vmac_pq); //! Initialize sending queue
resetSeq(); //set seq_count 0
resetRetries(); //set retries 0
//enable interrupt for receiving data
Radio_SetPackRecvedCallBack(_MacRecvCallBack);
Radio_Enable_Interrupt();
}
// *************************************************************************************************
// @fn Init_System
// @brief Initialize system
// @param none
// @return none
// *************************************************************************************************
uint8 System_Init(void) {
uint8 exit_code = 0;
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
// Configure CPU clock
System_Set_Speed(SYSTEM_SPEED_MHZ);
// Ports
LED_PORT_DIR |= (LED1); //Set LED1 pin as output
LED_PORT_OUT &= ~(LED1); // Set LED1 pin to LOW
RF_RESET_OUT(); // Set RF module reset pin as output
// Communication
UART_Init(); //
SPI_Init(); // RF module interface
// RF Module
if (exit_code = Radio_Init(RF_DATA_RATE, TX_POWER, RF_CHANNEL)) // Initialize RF module with 2kbps speed
return exit_code;
if (exit_code = Radio_Set_Channel(RF_CHANNEL))
return exit_code;
__enable_interrupt();
return EXIT_NO_ERROR;
}
void Radio_Cmd(FunctionalState cmd) {
if(!_initialized) Radio_Init();
// TODO: shut off boost converter when disabling radio?
// set the FORCEOFF pin
GPIO_WriteBit(GPIOD, GPIO_Pin_10, (cmd == ENABLE) ? Bit_SET : Bit_RESET);
}
/**
* \brief Main control sequence for sensor node
* @return Constant 0, but it has nowhere to go.
*/
int main(void)
{
Board_Init();
Timer_Init();
SPI_Init(); // Start SPI
Radio_Init(); // Prep the radio
while(True)
{
// Some merge example test lines.
// More testing.
}
}
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;
}
// *************************************************************************************************
// @fn Print_Error
// @brief Print code that is set when function exits. If error code is 0 then nothin is prnted
// out and packet is received or sent correctly
// @param uint8 error_code Error code number that is set by the function
// @return none
// *************************************************************************************************
void Print_Error(uint8 error_code) {
// Print out error code only if it is not 0
if (error_code) {
UART_Send_Data("\r\nError code: ");
UART0_Send_ByteToChar(&error_code);
error_code = 0;
}
// If packet size has wrong length then reset radio module
if (error_code == ERR_RX_WRONG_LENGTH) {
Radio_Init(RF_DATA_RATE, TX_POWER, RF_CHANNEL);
}
exit_code = 0;
}
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;
}
