//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)