sc_boolean sMCIfaceRF_sendReq(const sc_integer cmd, const sc_integer id) {
unsigned char num;
unsigned char mod;
//clear buffer
for(uint8_t i=0; i<sizeof(bufferout); i++) bufferout[i] = 0;
//Lenh cho data: 1-xong mon an, 2-huy mon
bufferout[0]=cmd+'0'; //Doi cmd tu so sang chu so
//So thu tu mon an
bufferout[1]=id+'0';
//Set Address for Data
nrf24l01_settxaddr(nrf24l01_addrtx);
uint8_t writeret = nrf24l01_write(bufferout);
_delay_ms(1);
if(writeret == 1) {
return true;
} else {
return false;
}
}
sc_boolean sMCIfaceRF_sendCheck() {
//set all buffer
for(uint8_t i=0; i<NRF24L01_PAYLOAD; i++) bufferout[i] = 1;
//Set Address for check
nrf24l01_settxaddr(nrf24l01_addr5);
uint8_t writeret = nrf24l01_write(bufferout);
_delay_ms(1);
if(writeret == 1) {
return true;
} else {
return false;
}
}
sc_boolean sMCIfaceRF_sendData(const sc_integer cmd, const sc_integer id, const sc_integer dish_id, const sc_integer amount) {
unsigned char num;
unsigned char mod;
//clear buffer
for(uint8_t i=0; i<sizeof(bufferout); i++) bufferout[i] = 0;
//Lenh cho data: 1-goi mon, 2-huy mon, 3-thanh toan, 4-goi boi ban
bufferout[0]=cmd+'0'; //Doi cmd tu so sang chu so
//Chuyen doi ma ban an hoac nha bep
num=id;
for (int i=1;i>=0;i--) {
mod=num % 10;
num/=10;
bufferout[i+1]=mod+'0';
}
//Chuyen doi ma mon an
num=dish_id;
for (int i=2;i>=0;i--) {
mod=num % 10;
num/=10;
bufferout[3+i]=mod+'0';
}
//Chuyen doi so luong mon an
num=amount;
for (int i=1;i>=0;i--) {
mod=num % 10;
num/=10;
bufferout[6+i]=mod+'0';
}
//Set Address for Data
nrf24l01_settxaddr(nrf24l01_addrtx);
uint8_t writeret = nrf24l01_write(bufferout);
_delay_ms(1);
if(writeret == 1) {
return true;
} else {
return false;
}
}
int main(void) {
#ifdef DEBUGPRINT
uart_init(UART_BAUD_SELECT_DOUBLE_SPEED(57600, F_CPU));
#endif
char* node_address = "OWRF1";
node_address[4] += NODENUM;
OWInit(5);
nrf24l01_init();
nrf24l01_settxaddr((uint8_t*) node_address);
nrf24l01_setrxaddr(0, (uint8_t*) node_address);
nrf24l01_setrxaddr(1, (uint8_t*) "OWRF0");
sei();
for (;;) {
uint8_t pipe;
if (nrf24l01_readready(&pipe)) {
int len = owrf_read(transfer_buf);
if (len != -1) {
#ifdef DEBUGPRINT
debugPrint("channel=%d command=%X datalen=%d\r\n", transfer_buf[0], transfer_buf[1], transfer_buf[2]);
for (int i = 0; i < transfer_buf[2]; i++) {
debugPrint(">%02X", transfer_buf[i+3]);
}
debugPrint("\r\n");
#endif
if (transfer_buf[0] == NODENUM) {
len = doSlave(transfer_buf + 1) + 3;
#ifdef DEBUGPRINT
debugPrint("retval=%X datalen=%d\r\n", transfer_buf[1], transfer_buf[2]);
for (int i = 0; i < transfer_buf[2]; i++) {
debugPrint("<%02X", transfer_buf[i+3]);
}
debugPrint("\r\n");
#endif
_delay_ms(5);
owrf_write(transfer_buf, len);
}
}
}
}
}
sc_boolean sMCIfaceRF_sendMsg(const sc_string msg) {
//clear buffer
for(uint8_t i=0; i<NRF24L01_PAYLOAD; i++) {
if (i<strlen(msg)) bufferout[i]=msg[i];
else bufferout[i] = 0;
}
//Set Address for Data
nrf24l01_settxaddr(nrf24l01_addrtx);
uint8_t writeret = nrf24l01_write(bufferout);
_delay_ms(1);
if(writeret == 1) {
return true;
} else {
return false;
}
}
//main here
int main(void) {
uint8_t i = 0;
char *wheel = "|/-\\";
//sending buffer addresses
uint8_t sendpipe = 0;
uint8_t addrtx0[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP0;
#if defined(TX)
long *ptr = 0;
double qw = 1.0f;
double qx = 0.0f;
double qy = 0.0f;
double qz = 0.0f;
double roll = 0.0f;
double pitch = 0.0f;
double yaw = 0.0f;
//nrf24l01 variables
uint8_t bufferout[NRF24L01_PAYLOAD];
#elif defined(RX)
uint8_t bufferin[NRF24L01_PAYLOAD];
#endif
//init uart
uart_init(UART_BAUD_SELECT(UART_BAUD_RATE, F_CPU));
mpu6050_init();
nrf24l01_init();
sei();
uart_puts("\r\nUART initialized... \r\n");
_delay_ms(50);
uart_puts("nrf24l01+ initialized... \r\n");
//init nrf24l01
_delay_ms(50);
#if defined(TX)
mpu6050_dmpInitialize();
mpu6050_dmpEnable();
_delay_ms(10);
uart_puts("mpu6050 initialized... \r\n");
#endif
//init interrupt
uart_puts("interrupts enabled... \r\n");
for(i=0; i<100; i++) {
uart_putc(wheel[i%4]);
_delay_ms(10);
uart_putc('\b');
}
uart_puts("\r\n");
#if defined(TX)
uart_puts("starting as tx...\r\n");
#elif defined(RX)
uart_puts("starting as rx...\r\n");
#endif
//setup buffer
#if defined(TX)
for(i=0; i<sizeof(bufferout); i++)
bufferout[i] = ' ';
#elif defined(RX)
for(i=0; i<sizeof(bufferin); i++)
bufferin[i] = 0;
#endif
#if NRF24L01_PRINTENABLE == 1
nrf24l01_printinfo(uart_puts, uart_putc);
#endif
//main loop
nrf24l01_settxaddr(addrtx0);
#if defined(TX)
for(;;) {
//tx
char pipebuffer[5];
itoa(sendpipe, pipebuffer, 10);
if(mpu6050_getQuaternionWait(&qw, &qx, &qy, &qz))
mpu6050_getRollPitchYaw(qw, qx, qy, qz, &roll, &pitch, &yaw);
_delay_ms(10);
//quaternion
ptr = (long *)(&qw);
for (i=0; i<4; i++)
*(bufferout+i) = *ptr>>(i*8);
ptr = (long *)(&qx);
for (i=0; i<4; i++)
*(bufferout+i+4) = *ptr>>(i*8);
ptr = (long *)(&qy);
for (i=0; i<4; i++)
*(bufferout+i+8) = *ptr>>(i*8);
ptr = (long *)(&qz);
for (i=0; i<4; i++)
*(bufferout+i+12) = *ptr>>(i*8);
// roll pitch yaw
ptr = (long *)(&roll);
for (i=0; i<4; i++)
*(bufferout+i+16) = *ptr>>(i*8);
ptr = (long *)(&pitch);
for (i=0; i<4; i++)
*(bufferout+i+20) = *ptr>>(i*8);
ptr = (long *)(&yaw);
for (i=0; i<4; i++)
*(bufferout+i+24) = *ptr>>(i*8);
nrf24l01_write(bufferout);
}
#elif defined(RX)
for(;;) {
//rx
uint8_t pipe = 0;
if(nrf24l01_readready(&pipe)) { //if data is ready
//read buffer
nrf24l01_read(bufferin);
for (i=0; i < 4*7; i++)
uart_putc(*(bufferin+i));
uart_putc('\n');
}
_delay_ms(10);
}
#endif
}
//main here
int main(void) {
uint8_t txrxrole = 0; // 1 transmitter 0 receiver
uint8_t i = 0;
//nrf24l01 variables
uint8_t bufferout[NRF24L01_PAYLOAD];
uint8_t bufferin[NRF24L01_PAYLOAD];
#if DEBUGENABLED == 1
//init uart
USART_Init(103);
#endif
//LCD init
lcd_init();
lcd_gotoxy1(0);
//init nrf24l01
nrf24l01_init();
//init interrupt
sei();
txrxrole = ROLERX; /////////////////////////////////////////////////
#if DEBUGENABLED == 1
if(txrxrole == ROLETX)
uart_putc('T');
else if(txrxrole == ROLERX)
uart_putc('R');
#endif
//setup buffer
for(i=0; i<sizeof(bufferout); i++)
bufferout[i] = i+'a';
for(i=0; i<sizeof(bufferin); i++)
bufferin[i] = 0;
//sending buffer addresses
uint8_t sendpipe = 0;
uint8_t addrtx0[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP0;
uint8_t addrtx1[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP1;
uint8_t addrtx2[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP2;
uint8_t addrtx3[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP3;
uint8_t addrtx4[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP4;
uint8_t addrtx5[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP5;
#if DEBUGENABLED == 1 && NRF24L01_PRINTENABLE == 1
nrf24l01_printinfo(uart_puts, uart_putc);
#endif
//main loop
for(;;)
{
if(txrxrole == ROLETX)
{//Tx
#if DEBUGENABLED == 1
char pipebuffer[5];
uart_puts("sending data, on pipe ");
itoa(sendpipe, pipebuffer, 10);
uart_puts(pipebuffer);
uart_puts("... ");
#endif
if(sendpipe == 0){
//set tx address for pipe 0
nrf24l01_settxaddr(addrtx0);
} else if(sendpipe == 1) {
//set tx address for pipe 1
nrf24l01_settxaddr(addrtx1);
} else if(sendpipe == 2) {
//set tx address for pipe 2
nrf24l01_settxaddr(addrtx2);
} else if(sendpipe == 3) {
//set tx address for pipe 3
nrf24l01_settxaddr(addrtx3);
} else if(sendpipe == 4) {
//set tx address for pipe 4
nrf24l01_settxaddr(addrtx4);
} else if(sendpipe == 5) {
//set tx address for pipe 5
nrf24l01_settxaddr(addrtx5);
}
//write buffer
uint8_t writeret = nrf24l01_write(bufferout);
#if DEBUGENABLED == 1
if(writeret == 1)
uart_puts("ok\r\n");
else
uart_puts("failed\r\n");
#endif
sendpipe++;
sendpipe%=6;
#if DEBUGENABLED == 0
}
#endif
#if DEBUGENABLED == 1
_delay_ms(1000);
#endif
}
else if(txrxrole == ROLERX)
/*
* init nrf24l01
*/
void nrf24l01_init() {
uint8_t activate[] = {ACTIVATE, ACTIVATE_ARG};
uint8_t dynPd[] = {DYNPD, 0x01};
uint8_t feature = 0;
//setup port
NRF24L01_CSN_DDR |= (1<<NRF24L01_CSN); //output
NRF24L01_CE_DDR |= (1<<NRF24L01_CE); //output
spi_init(); //init spi
nrf24l01_CElo; //low CE
nrf24l01_CSNhi; //high CSN
_delay_ms(5); //wait for the radio to init
nrf24l01_writeregister(FEATURE, NRF24L01_FEATURE_EN_DPL | NRF24L01_FEATURE_PAYLOAD_WITH_ACK);
feature = nrf24l01_readregister(FEATURE);
if (((feature & NRF24L01_FEATURE_EN_DPL) == 0) || ((feature & NRF24L01_FEATURE_PAYLOAD_WITH_ACK) == 0))
{
nrf24l01_command(activate, 2);
nrf24l01_writeregister(FEATURE, NRF24L01_FEATURE_EN_DPL | NRF24L01_FEATURE_PAYLOAD_WITH_ACK);
}
//tx address
nrf24l01_settxaddr(nrf24l01_addrtx);
//rx address
nrf24l01_setrxaddr(0, nrf24l01_addr0);
//nrf24l01_setrxaddr(1, nrf24l01_addr1);
//nrf24l01_setrxaddr(2, nrf24l01_addr2);
//nrf24l01_setrxaddr(3, nrf24l01_addr3);
//nrf24l01_setrxaddr(4, nrf24l01_addr4);
//nrf24l01_setrxaddr(5, nrf24l01_addr5);
//auto ack
#if NRF24L01_ACK == 1
//nrf24l01_readregister(NRF24L01_REG_EN_AA) |
nrf24l01_writeregister(NRF24L01_REG_EN_AA, (1<<NRF24L01_REG_ENAA_P0));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) | (1<<NRF24L01_REG_ENAA_P1));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) | (1<<NRF24L01_REG_ENAA_P2));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) | (1<<NRF24L01_REG_ENAA_P3));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) | (1<<NRF24L01_REG_ENAA_P4));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) | (1<<NRF24L01_REG_ENAA_P5));
#else
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) & ~(1<<NRF24L01_REG_ENAA_P0));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) & ~(1<<NRF24L01_REG_ENAA_P1));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) & ~(1<<NRF24L01_REG_ENAA_P2));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) & ~(1<<NRF24L01_REG_ENAA_P3));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) & ~(1<<NRF24L01_REG_ENAA_P4));
//nrf24l01_writeregister(NRF24L01_REG_EN_AA, nrf24l01_readregister(NRF24L01_REG_EN_AA) & ~(1<<NRF24L01_REG_ENAA_P5));
#endif
//enable pipe
nrf24l01_writeregister(NRF24L01_REG_EN_RXADDR, 0);
#if NRF24L01_ENABLEDP0 == 1
nrf24l01_writeregister(NRF24L01_REG_EN_RXADDR, nrf24l01_readregister(NRF24L01_REG_EN_RXADDR) | (1<<NRF24L01_REG_ERX_P0));
#endif
#if NRF24L01_ENABLEDP1 == 1
nrf24l01_writeregister(NRF24L01_REG_EN_RXADDR, nrf24l01_readregister(NRF24L01_REG_EN_RXADDR) | (1<<NRF24L01_REG_ERX_P1));
#endif
#if NRF24L01_ENABLEDP2 == 1
nrf24l01_writeregister(NRF24L01_REG_EN_RXADDR, nrf24l01_readregister(NRF24L01_REG_EN_RXADDR) | (1<<NRF24L01_REG_ERX_P2));
#endif
#if NRF24L01_ENABLEDP3 == 1
nrf24l01_writeregister(NRF24L01_REG_EN_RXADDR, nrf24l01_readregister(NRF24L01_REG_EN_RXADDR) | (1<<NRF24L01_REG_ERX_P3));
#endif
#if NRF24L01_ENABLEDP4 == 1
nrf24l01_writeregister(NRF24L01_REG_EN_RXADDR, nrf24l01_readregister(NRF24L01_REG_EN_RXADDR) | (1<<NRF24L01_REG_ERX_P4));
#endif
#if NRF24L01_ENABLEDP5 == 1
nrf24l01_writeregister(NRF24L01_REG_EN_RXADDR, nrf24l01_readregister(NRF24L01_REG_EN_RXADDR) | (1<<NRF24L01_REG_ERX_P5));
#endif
nrf24l01_writeregister(NRF24L01_REG_SETUP_RETR, NRF24L01_RETR); // set retries
nrf24l01_writeregister(NRF24L01_REG_RF_CH, NRF24L01_CH); //set RF channel
//payload size
#if NRF24L01_ENABLEDP0 == 1
nrf24l01_writeregister(NRF24L01_REG_RX_PW_P0, NRF24L01_PAYLOAD);
#endif
#if NRF24L01_ENABLEDP1 == 1
nrf24l01_writeregister(NRF24L01_REG_RX_PW_P1, NRF24L01_PAYLOAD);
#endif
#if NRF24L01_ENABLEDP2 == 1
nrf24l01_writeregister(NRF24L01_REG_RX_PW_P2, NRF24L01_PAYLOAD);
#endif
#if NRF24L01_ENABLEDP3 == 1
nrf24l01_writeregister(NRF24L01_REG_RX_PW_P3, NRF24L01_PAYLOAD);
#endif
#if NRF24L01_ENABLEDP4 == 1
nrf24l01_writeregister(NRF24L01_REG_RX_PW_P4, NRF24L01_PAYLOAD);
#endif
#if NRF24L01_ENABLEDP5 == 1
nrf24l01_writeregister(NRF24L01_REG_RX_PW_P5, NRF24L01_PAYLOAD);
#endif
nrf24l01_setpalevel(); //set power level
nrf24l01_setdatarate(); //set data rate
nrf24l01_setcrclength(); //set crc length
//nrf24l01_writeregister(NRF24L01_REG_DYNPD, 1); //enable dynamic payloads
nrf24l01_command(dynPd, 2);
//set rx mode
nrf24l01_setRX();
}
