void main(void)
{
unsigned int channel = CHANNEL;
unsigned char data = 0x07;
// DBGU output configuration
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
// Configuration PIT (Periodic Interrupt Timer)
ConfigurePit();
// Configuration TC (Timer Counter)
ConfigureTc();
// Configuration PIO (Paralell In and Out port), Init Interrupt on PIO
ConfigureButtons();
ConfigureLeds();
// Configuration Radio Module nRF24L (PIO and SPI), ConfigureButtons must be executed before
ConfigureNRF24L();
ConfigureUSART0();
ConfigureUSART1();
//initialize proximity sensor
ir_init();
Global_Variable_Init();
while(Timer0Tick<2); // wait until NRF24L01 power up
nrf24l01_power_up(True);
while(Timer0Tick<4); // wait until NRF24L01 stand by
Timer0Tick = 0;
//initialize the 24L01 to the debug configuration as RX and auto-ack disabled
nrf24l01_initialize_debug(True, nrf_TX_RX_SIZE, False);
nrf24l01_write_register(0x06, &data, 1);
nrf24l01_set_as_rx(True);
Delay_US(130);
nrf24l01_set_rf_ch(channel);
nrf24l01_flush_rx();
Delay_US(300);
while (1) {
if(Timer0Tick!=0){
Timer0Tick = 0;
Check_Battery(0);
odometry(0);
ProxRead_m();
Send_Coord();
Delay_US(10000);//give time for the coming message
feedbackController(goalx, goaly, goaldist);
}
Check_Wireless();
}//while
}//main
//flush both fifos and clear interrupts
void nrf24l01_clear_flush()
{
nrf24l01_flush_rx();
nrf24l01_flush_tx();
nrf24l01_irq_clear_all();
}
void main(void)
{
unsigned int channel = CHANNEL;
unsigned char data = 0x07;
unsigned char t1;
unsigned char t2;
unsigned int tmpcount = 0;
unsigned char wl_data[10];
unsigned char rs_line[20];
unsigned char rs_data[10];
unsigned char tmp_data[50];
// DBGU output configuration
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
// Configuration PIT (Periodic Interrupt Timer)
ConfigurePit();
// Configuration TC (Timer Counter)
ConfigureTc();
// Configuration PIO (Paralell In and Out port), Init Interrupt on PIO
ConfigureButtons();
ConfigureLeds();
// Configuration Radio Module nRF24L (PIO and SPI), ConfigureButtons must be executed before
ConfigureNRF24L();
ConfigureUSART0();
ConfigureUSART1();
while(Timer1Tick<2); // wait until NRF24L01 power up
nrf24l01_power_up(True);
while(Timer1Tick<4); // wait until NRF24L01 stand by
Timer1Tick = 0;
//initialize the 24L01 to the debug configuration as RX and auto-ack disabled
nrf24l01_initialize_debug(True, nrf_TX_RX_SIZE, False);
nrf24l01_write_register(0x06, &data, 1);
nrf24l01_set_as_rx(True);
Delay_US(130);
nrf24l01_set_rf_ch(channel);
nrf24l01_flush_rx();
Delay_US(300);
reset_wl = 1;
while (1) {
if( nrf_Data > 0 ) {
nrf_Data = 0;
for( t1 = 0; t1<8; t1++ ) {
wl_data[t1] = nrfRxMessage.Data[t1];
}
LED_Toggle(LED_Green);
writeByteSequence_8(wl_data);
}
if(messageUSART1){
messageUSART1 = 0;
pmsgRead(tmp_data);
while (tmp_data[tmpcount]!='\n'){
t1 = tmp_data[tmpcount];
tmpcount++;
if( t1 >= '0' && t1 <= '9' ) { // If character is 0-9 convert it to num
if( count < 20) {
rs_line[count] = t1-'0';
count++;
}
}
if( t1 >= 'A' && t1 <= 'F' ) { // If character A-F convert to 10-15
if( count < 20) {
rs_line[count] = t1-'A'+10;
count++;
}
}
}
// If character is a line break send packet
for( count = 0; count <10; count++ ) { // Convert from 16*4 to 8*8
t1 = (rs_line[count*2])<<4;
t2 = rs_line[count*2+1];
rs_data[count] = t1 | t2;
}
count = 0;
tmpcount = 0;
if( nrf_Transmission_Done == 1 ) {
TX_packet_BASE(rs_data); // Send packet.
LED_Toggle(LED_Yellow);
}
}//if msg flag has been raised
}//while
}//main