/**
* @brief Yields the time slot.
* @details Yields the CPU control to the next thread in the ready list with
* equal priority, if any.
*
* @api
*/
void chThdYield(void) {
chSysLock();
chSchDoYieldS();
chSysUnlock();
}
static msg_t receiverThread(void *arg) {
int i;
UNUSED (arg);
chRegSetThreadName("receiver");
while (TRUE) {
chMtxLock(&nrfMutex);
size_t s = chnReadTimeout(&nrf24l01.channels[0], serialInBuf, 32, MS2ST(10));
chMtxUnlock(&nrfMutex);
if (s) {
if(!wait_for_ack){
// serialOutBuf[0]= serialInBuf[0];
serialInBuf[8]= 1;
for(i=0; i<5; i++){
target_addr[i] = serialInBuf[2+i];
}
nrf24l01SetTXAddress(&nrf24l01, target_addr);
chMtxLock(&nrfMutex);
chnWriteTimeout(&nrf24l01.channels[0], serialInBuf, 32, MS2ST(100));
chMtxUnlock(&nrfMutex);
if(wait_for_ack){
break;
}
for(i=0;i<5; i++){
rec_list[iter][i] = serialInBuf[2+i];
}
rec_list[iter][5] = serialInBuf[10];
for(i=0; i<(serialInBuf[10]);i++){
rec_list[iter][6+i] = serialInBuf[12+i];
}
iter = (iter+1)%10;
for (i=0;i<(int)s;i++) {
chprintf((BaseSequentialStream*)&SD1, "%c ", serialInBuf[i]);
}
chprintf((BaseSequentialStream*)&SD1, "\n\r", s);
}
if(wait_for_ack){
if((serialInBuf[0] = msg_seq) && (serialInBuf[8]==1)){
wait_for_ack = 0;
chprintf((BaseSequentialStream*)&SD1, "Acknowledged.\n\r");
}
//else keep trying to send.
}
}
chSchDoYieldS();
}
return 0;
}
