void vBlinkerRequest(uint8_t cmd)
{
switch (cmd & CMD_MASK)
{
case CMD_LED_ON:
switch (cmd & LED_MASK)
{
case LED_RED:
LED_RED_ON();
break;
case LED_GREEN:
LED_GREEN_ON();
break;
case LED_BLUE:
LED_BLUE_ON();
break;
case LED_ALL:
LEDS_ON();
break;
}
break;
case CMD_LED_OFF:
switch (cmd & LED_MASK)
{
case LED_RED:
LED_RED_OFF();
break;
case LED_GREEN:
LED_GREEN_OFF();
break;
case LED_BLUE:
LED_BLUE_OFF();
break;
case LED_ALL:
LEDS_OFF();
break;
}
break;
case CMD_LED_TOGGLE:
switch (cmd & LED_MASK)
{
case LED_RED:
LED_RED_TOGGLE();
break;
case LED_GREEN:
LED_GREEN_TOGGLE();
break;
case LED_BLUE:
LED_BLUE_TOGGLE();
break;
case LED_ALL:
LED_RED_TOGGLE();
LED_GREEN_TOGGLE();
LED_BLUE_TOGGLE();
break;
}
break;
}
}
static void vMacTask(void* pvParameters)
{
uint16_t rx_count;
uint8_t event;
vInitMac();
for (;;)
{
vStartRx();
rx_count = 0;
while ( xQueueReceive(xEvent, &event, 15000) == pdTRUE)
{
if (event == EVENT_FRAME_RECEIVED)
{
rx_count ++;
LED_GREEN_ON();
vParseFrame();
LED_GREEN_OFF();
}
if (rx_count == 128)
{
break;
}
}
LED_RED_TOGGLE();
}
}
/*------------------------PIT Handler---------------------------*/
void PIT_IRQHandler(void)
{
if(PIT->CHANNEL[0].TFLG!=0) // Check Interrupt Timer0 Flag
{
LED_GREEN_TOGGLE(); //Toggle led green after 2s
}
if(PIT->CHANNEL[1].TFLG!=0) // Check Interrupt Timer1 Flag
{
LED_RED_TOGGLE(); //Toggle led red after 4s
}
PIT->CHANNEL[0].TFLG = 1UL; // Clear Interrupt Timer0 Flag
PIT->CHANNEL[1].TFLG = 1UL; // Clear Interrupt Timer1 Flag
}
uint16_t char_rx(uint8_t c) {
LED_GREEN_TOGGLE();
if (c=='t' || c=='l') {
LED_RED_TOGGLE();
// copy received character to cmd variable.
cmd = c;
// return not zero to wake up the CPU.
return 1;
} else {
LED_BLUE_TOGGLE();
// if not a valid command don't wake the CPU up.
return 0;
}
}
int main(void)
{
//设置NVIC中断分组2位抢占优先级，2位响应优先级
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2) ;
Ticker_Configuration();
LED_Configuration();
USART2_Configuration();
delay_init();
//Do_Loop_LED_Test();
//Do_Loop_Motor_Test();
//DISABLE_FOLLOWING_CODE(1);
//主控通信控制器初始化
Maincontrol_Configuration();
Encoder_Configuration();
Encoder_Start();
//速度采样控制器初始化
TIM2_Configuration(5);
TIM2_Start();
//电流检测
ADC_Configuration();
//电机初始化
Motor_Init();
while (1)
{
delay_ms(200);
LED_RED_TOGGLE();
LED_GREEN_TOGGLE();
}
}
int main (void)
{
WDTCTL = WDTPW+WDTHOLD; // Stop watchdog timer
set_mcu_speed_xt2_mclk_8MHz_smclk_1MHz();
set_aclk_div(1);
LEDS_INIT();
LEDS_OFF();
uart0_init(UART0_CONFIG_1MHZ_115200);
printf("\n-----------------------------------\n");
printf("TDMA_NODE test\r\n");
eint();
mac_init(0);
mac_set_access_allowed_cb(mac_ready);
printf("*** I'm %u ***\n", node_addr);
uint8_t dodo = 'a';
while(1) {
if (mac_is_access_allowed()) {
mac_payload[0] = dodo;
mac_send();
dodo++;
if (dodo>'z')dodo='a';
LED_RED_TOGGLE();
}
LPM3;
}
return 0;
}
/**
* The main function.
*/
int main( void )
{
uint8_t i;
uint8_t length;
/* Stop the watchdog timer. */
WDTCTL = WDTPW + WDTHOLD;
/* Setup MCLK 8MHz and SMCLK 1MHz */
set_mcu_speed_xt2_mclk_8MHz_smclk_1MHz();
/* Enable Interrupts */
eint();
LEDS_INIT();
LEDS_ON();
uart0_init(UART0_CONFIG_1MHZ_115200);
printf("CC2420 RX test program with address recognition and acknowledge frames\r\n");
cc2420_init();
cc2420_io_sfd_register_cb(sfd_cb);
cc2420_io_sfd_int_set_falling();
cc2420_io_sfd_int_clear();
cc2420_io_sfd_int_enable();
uint8_t src_pan_id[2] = {0x22,0x00};
uint8_t src_addr[2] = {0x11,0x11};
while ( (cc2420_get_status() & 0x40) == 0 ); // waiting for xosc being stable
cc2420_set_panid(src_pan_id); // save pan id in ram
cc2420_set_shortadr(src_addr); // save short address in ram
printf("CC2420 initialized\r\n");
LEDS_OFF();
while(1)
{
cc2420_cmd_idle();
cc2420_cmd_flushrx();
cc2420_cmd_rx();
while (flag == 0) ;
micro_delay(0xFFFF);
flag = 0;
LED_GREEN_TOGGLE();
cc2420_fifo_get(&length, 1);
if ( length < 128 )
{
cc2420_fifo_get(rxframe, length);
// check CRC
if ( (rxframe[length-1] & 0x80) != 0 )
{
printf("Frame received with rssi=%ddBm:\r\n", ((signed int)((signed char)(rxframe[length-2])))-45);
LED_BLUE_TOGGLE();
// ignore 11 first bytes (fcf,seq,addr) and the 2 last ones (crc)
for (i=11; i<length-2; i++)
{
printf("%c",rxframe[i]);
}
printf("\r\n\n");
}
else {
printf("CRC non OK, erreur de transmission?\n");
printf("\r\n");
LED_RED_TOGGLE();
}
}
}
return 0;
}
uint16_t alarm(void) {
LED_RED_TOGGLE();
LED_BLUE_TOGGLE();
LED_GREEN_TOGGLE();
return 0;
}
/**
* The main function.
*/
int main( void )
{
/* Stop the watchdog timer. */
WDTCTL = WDTPW + WDTHOLD;
/* Setup MCLK 8MHz and SMCLK 1MHz */
set_mcu_speed_xt2_mclk_8MHz_smclk_1MHz();
/* Enable Interrupts */
eint();
LEDS_INIT();
LEDS_ON();
uart0_init(UART0_CONFIG_1MHZ_115200);
printf("CC2420 TX test program with address recognition and acknowledge frames\r\n");
cc2420_init();
cc2420_io_sfd_register_cb(sfd_cb);
cc2420_io_sfd_int_set_falling();
cc2420_io_sfd_int_clear();
cc2420_io_sfd_int_enable();
cc2420_set_txpower(CC2420_2_45GHz_TX_0dBm);
uint8_t fcf[2] = {0x21, 0x88}; /* -> 00100001 10001000 -> reverse of bits for each byte -> 10000100 00010001 -> ack bit = 1 (6th bit), Frame type = 001 (don't forget to read from right to left) */
uint8_t seq_numb = 0x01;
uint8_t dest_pan_id[2] = {0x22, 0x00};
uint8_t dest_addr[2] = {0x11, 0x11};
uint8_t src_pan_id[2] = {0x22, 0x01};
uint8_t src_addr[2] = {0x11, 0x12};
while ( (cc2420_get_status() & 0x40) == 0 ); // waiting for xosc being stable
cc2420_set_panid(src_pan_id); // save pan id in ram
cc2420_set_shortadr(src_addr); // save short address in ram
printf("CC2420 initialized\r\n");
LEDS_OFF();
while (1)
{
cc2420_cmd_idle();
cc2420_cmd_flushtx();
txlength = sprintf((char *)txframe, "Hello World #%i", seq_numb);
printf("Sent : %s of length %d\r\n", txframe,txlength);
txlength += 13;
cc2420_fifo_put(&txlength, 1);
cc2420_fifo_put(fcf, 2);
cc2420_fifo_put(&seq_numb, 1);
cc2420_fifo_put(dest_pan_id, 2);
cc2420_fifo_put(dest_addr, 2);
cc2420_fifo_put(src_pan_id, 2);
cc2420_fifo_put(src_addr, 2);
cc2420_fifo_put(txframe, txlength-13);
LED_BLUE_TOGGLE();
cc2420_cmd_tx();
micro_delay(0xFFFF);
while (cc2420_io_sfd_read());
printf("Waiting for acknowledge frame...\n");
if (rx_ack())
{
seq_numb ++;
}
else
{
printf("No Acknowledge frame received for frame number #%i - Retrying...\r\n\n", seq_numb);
LED_RED_TOGGLE();
}
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
micro_delay(0xFFFF);
}
return 0;
}