int main()
{
UINT32 val;
char c, forceClearCfg = 0;
/* enable watchdog */
wdt_enable(WDTO_8S);
#ifdef INCLUDE_KTANK_UART
/* init UART */
init_uart(9600);
printk("\n\n\n!!!!!!!!!!ktank start!!!!!!!!!!!!!!\n\n\n");
#endif
/* init PWM, local time */
pwm_init();
/* enable i2c bus, rtc need it */
I2C_init();
/* init timer */
timer_init();
val = timebase_get();
#ifdef INCLUDE_KTANK_UART
do{
if(uart_poll_c((UINT8*)&c) > 0 && c == 'c'){
forceClearCfg++;
}
}while(time_diff_ms(val) < 2000);
#endif
if(forceClearCfg > 10){
DBG_PRINT("slave force clear cfg..\n");
EEPROM_put(EEPROM_OFS_RFAVAIL, 0xff);
}
local_device_info_load();
local_device_info_show();
if(RF_CFG_AVAL()){
rf_init(NULL, SLAVE_MODE_NORMAL);
rf_config(EEPROM_get(EEPROM_OFS_HOSTID), EEPROM_get(EEPROM_OFS_DEVID));
DBG_PRINT("slave start hostid 0x%x devid 0x%x\n",
EEPROM_get(EEPROM_OFS_HOSTID), EEPROM_get(EEPROM_OFS_DEVID));
nrf_enter_rx_mode();
}else{
#if 0
rf_init(NULL, SLAVE_MODE_WAIT_SYNC);
DBG_PRINT("no cfg, force device id 1, host id 0xef\n");
rf_config(0xef, 1);
nrf_enter_rx_mode();
#else
rf_init(NULL, SLAVE_MODE_WAIT_DISCOVER);
rf_config(0xc0, 0x80);
DBG_PRINT("slave start without rf cfg\n");
#endif
}
sei();
while(1){
wdt_reset();
rf_process();
local_device_update();
}
}
static void sendto(char *packet)
{
connectSPITo(SPI_RF_CH1, SCK_2MHz);
rf_config(TX);
//BUF_RDY = 1;/**/
rf_txPacket(packet);
//BUF_RDY = 0;/**/
} // sendto
void rf_process()
{
struct rf_cmd cmd;
UINT32 val32;
UINT8 devId, hostId;
INT8 ret;
if(32 != rcvCmd(&cmd)){
return;
}
switch(cmd.cmd){
case KFISH_CMD_DISCOVER:
if(rf_mode_get() != SLAVE_MODE_WAIT_DISCOVER)
break;
memcpy(&val32, cmd.data, sizeof(UINT32));
if(val32 == 0xffffffff){
DBG_PRINT("devId full\n");
rf_mode_set(SLAVE_MODE_WAIT_DISCOVER);
return;
}
for(devId = 0; devId < 0x20; devId++){
if(((val32 >> devId) & 1) == 0)
break;
}
/* printk("rcv discover from 0x%x->%x \n", cmd.srcId, cmd.destId); */
/* printk("try devid 0x%x plane %d mode %d\n", devId, cmd.rfPlane, rf_mode_get()); */
/* printk("list 0x%lx\n", val32); */
rf_config(cmd.srcId, devId);
cmd.cmd = KFISH_CMD_DISCOVER_ACK;
val32 = val32 | (1 << devId);
memcpy(cmd.data, &val32, sizeof(UINT32));
sndCmd(&cmd);
rf_mode_set(SLAVE_MODE_DISCOVER_GET);
break;
case KFISH_CMD_DEVCONFIRM: /* 4Byte dev status, 1B controlNum */
if(rf_mode_get() != SLAVE_MODE_DISCOVER_GET)
break;
hostId = cmd.srcId;
devId = cmd.destId;
memcpy(&val32, cmd.data, sizeof(UINT32));
val32 |= (1 << devId);
memcpy(cmd.data, &val32, sizeof(UINT32));
cmd.data[4] = __local_ctrl_num; /* control number */
cmd.cmd = KFISH_CMD_DEVCONFIRM_ACK;
rf_mode_set(SLAVE_MODE_NORMAL);
sndCmd(&cmd);
printk("confirmed, use devId 0x%x\n", devId);
if(hostId != EEPROM_get(EEPROM_OFS_HOSTID)){
EEPROM_put(EEPROM_OFS_HOSTID, hostId);
}
if(devId != EEPROM_get(EEPROM_OFS_DEVID)){
EEPROM_put(EEPROM_OFS_RFPLANE, devId);
}
if(0xa9 != EEPROM_get(EEPROM_OFS_RFAVAIL)){
EEPROM_put(EEPROM_OFS_RFAVAIL, 0xa9);
}
break;
default:
ret = uartCmdLocalProcess(&cmd);
if(CMD_PROCESS_ACK == ret){
DBG_PRINT("<cmd 0x%x ctrl:%d data:%x %x %x\n",
cmd.cmd, cmd.ctrlId, cmd.data[0], cmd.data[1], cmd.data[2]
);
sndCmd(&cmd); /* 合法命令,发送应答 */
DBG_PRINT(">cmd 0x%x ctrl %d %x %x %x\n",
cmd.cmd, cmd.ctrlId, cmd.data[0], cmd.data[1], cmd.data[2]
);
}else if(CMD_PROCESS_NO_ACK == ret){ /* 合法命令，但是不用应答 */
}else{ /* 不合法的命令 */
DBG_PRINT("illegal command\n");
DBG_PRINT("\tcmd 0x%x ctrlId %d", cmd.cmd, cmd.ctrlId);
}
break;
}
}
void main (void)
{
//unsigned char i;
unsigned char my_order;
//static char count_burst;
init_ioport();
spi_init();
rf_init();
//msp_init();
//timer0_init();
adc_init();
timer0_init();
timer0_start();
//regCallbackFunc();
//led_turnOn();
BUF_RDY = 0;
rf_config(RX);
rf_rxOn();
/* initial blinking */
//for(my_order=0; my_order<=MyID; my_order++)
for(my_order=0; my_order<=1; my_order++)
{
led_turnOn();
delayms(10);
led_turnOff();
delayms(1000);
}
/**/
for(;;)
{
rf_rxPacket(Buffer);
if (Buffer[0] != MyID && Buffer[1] != MyID && Buffer[2] != MyID)
{
rf_rxOn();
continue;
}
if(Buffer[0] == MyID)
my_order = 0;
else if(Buffer[1] == MyID)
my_order = 1;
else
my_order = 2;
Buffer[0] = Buffer[1] = Buffer[2] = -1; // xmitdata() uses 'Buffer' to send data --> reset!
//PWR_UP = 0;
MSP_CS = 1;
switch(my_order)
{
case 0:
//_delay2us(150);
_delay2us(170); //350 us
break;
case 1:
delayms(1);
_delay2us(245); //500 us
//_delay2us(185);
_delay2us(195); //400
break;
case 2:
delayms(2);
_delay2us(245); // 5oo us
//_delay2us(185);
_delay2us(205); // 420 us
break;
}
timer0_stop();
MSP_CS = 0;
xmitdata();
MSP_CS = 1;
led_toggle();
rf_config(RX);
rf_rxOn();
timer0_start();
MSP_CS = 0;
} // for
} // main
