//initialize routine
void Initialize(void)
{
InitializeIO(); //set up IO (directions and functions)
// OpenSPI(SPI_FOSC_16, MODE_00, SMPMID); //open SPI1
spi1_open(); //open SPI1
nrf24l01_initialize_debug(true, 1, false); //initialize the 24L01 to the debug configuration as TX, 1 data byte, and auto-ack disabled
}
void Initialize()
{
int pbClk = SYSTEMConfigPerformance(SYS_FREQ);
InitializeIO(); //set up IO (directions and functions)
initUART1(pbClk);
SpiInitDevice(1, 1, 0, 0);
nrf24l01_initialize_debug(true, width, false); //initialize the 24L01 to the debug configuration as RX, 1 data byte, and auto-ack disabled
}
//initialize routine
void Initialize()
{
// InitializeIO(); //set up IO (directions and functions)
CLKPR = _BV(CLKPCE); // enable clock scalar update
CLKPR = 0x00; // set to 8Mhz
DDRC = 0XFF; // set port C to output
usart0_open(); //open UART0
spi1_open(); //open SPI1
nrf24l01_initialize_debug(false, 1, true); //initialize the 24L01 to the debug configuration as TX, 1 data byte, and auto-ack enabled
}
void main(void)
{
unsigned int channel = CHANNEL;
unsigned char data = 0x07;
// DBGU output configuration
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
// Configuration PIT (Periodic Interrupt Timer)
ConfigurePit();
// Configuration TC (Timer Counter)
ConfigureTc();
// Configuration PIO (Paralell In and Out port), Init Interrupt on PIO
ConfigureButtons();
ConfigureLeds();
// Configuration Radio Module nRF24L (PIO and SPI), ConfigureButtons must be executed before
ConfigureNRF24L();
ConfigureUSART0();
ConfigureUSART1();
//initialize proximity sensor
ir_init();
Global_Variable_Init();
while(Timer0Tick<2); // wait until NRF24L01 power up
nrf24l01_power_up(True);
while(Timer0Tick<4); // wait until NRF24L01 stand by
Timer0Tick = 0;
//initialize the 24L01 to the debug configuration as RX and auto-ack disabled
nrf24l01_initialize_debug(True, nrf_TX_RX_SIZE, False);
nrf24l01_write_register(0x06, &data, 1);
nrf24l01_set_as_rx(True);
Delay_US(130);
nrf24l01_set_rf_ch(channel);
nrf24l01_flush_rx();
Delay_US(300);
while (1) {
if(Timer0Tick!=0){
Timer0Tick = 0;
Check_Battery(0);
odometry(0);
ProxRead_m();
Send_Coord();
Delay_US(10000);//give time for the coming message
feedbackController(goalx, goaly, goaldist);
}
Check_Wireless();
}//while
}//main
void __ISR(_UART1_VECTOR, ipl2) IntUart1Handler(void)
{
// Is this an RX interrupt?
if (mU2RXGetIntFlag())
{
// Clear the RX interrupt Flag
mU2RXClearIntFlag();
char change = (char) ReadUART1();
if (change == ']')
{
width++;
if (width > 32)
{
width = width - 32;
}
}
if (change == '[')
{
width--;
if (width < 1)
{
width = width + 32;
}
}
// Echo what we just received.
sprintf(RS232_Out_Buffer, "Width: %d \r\n", width);
putsUART1(RS232_Out_Buffer);
//reset chip to new width
nrf24l01_initialize_debug(true, width, false);
}
// We don't care about TX interrupt
if (mU2TXGetIntFlag())
{
mU2TXClearIntFlag();
}
}
int main(void)
{
int i;
unsigned char add[5]={110,110,8,110,110};
/*!< At this stage the microcontroller clock setting is already configured to
120 MHz, this is done through SystemInit() function which is called from
startup file (startup_stm32f2xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f2xx.c file
*/
#ifdef SERIAL_DEBUG
DebugComPort_Init();
#endif
initLED();
init_Timer();
//while(1);
/*Initialize LCD and Leds */
//LCD_LED_Init();
delay_ms(500);
for(i=0;i<100;i++)
{
setNumber(i);
delay_ms(10);
}
beep(40);
offSegment(3);
delay_ms(100);
setNumber(0);
delay_ms(100);
beep(40);
offSegment(3);
delay_ms(100);
setNumber(0);
delay_ms(100);
beep(40);
//USART2_Init();
//USART3_Init();
init_NRF1_IO();
init_NRF2_IO();
SPI1_Config();
SPI3_Config();
SPI_Cmd(SPI1, ENABLE);
SPI_Cmd(SPI3, ENABLE);
nrf24l01_initialize_debug(false, TX_PAYLOAD_SIZE, false);
nrf24l01_clear_flush();
add[2]=8;
nrf24l01_set_tx_addr(add , 5);
add[2]=30;
nrf24l01_set_rx_addr(add,5,0);
nrf24l01_set_rf_ch(tx_channel);
nrf24l02_initialize_debug(false, RX_PAYLOAD_SIZE, false);
nrf24l02_clear_flush();
add[2]=8;
nrf24l02_set_tx_addr(add , 5);
add[2]=30;
nrf24l02_set_rx_addr(add,5,0);
nrf24l02_set_rf_ch(rx_channel);
nrf24l02_set_as_rx(true);
/* configure ethernet */
ETH_BSP_Config();
/* Initilaize the LwIP stack */
LwIP_Init();
/* UDP echoserver */
udp_echoserver_init();
/* Infinite loop */
while (1)
{
/* check if any packet received */
if (ETH_CheckFrameReceived())
{
/* process received ethernet packet */
LwIP_Pkt_Handle();
}
/* handle periodic timers for LwIP */
LwIP_Periodic_Handle(LocalTime);
process_incoming_rf();
if(firstPacketRecieved==0)
{
demo();
setNumber(22);
}
}
}
int main (void)
{
setvbuf(stdin, NULL, _IONBF, 0);
setvbuf(stdout, NULL, _IONBF, 0);
setvbuf(stderr, NULL, _IONBF, 0);
//Driver initialization
ds_systick_init();
ds_delay_init();
ds_uart_init();
ds_rtc_init();
ds_i2c1_init();
ds_nordic_init();
ds_therm_init();
if (SysTick_Config(SystemCoreClock / 1000))
while (1);
//Initialize the nordic library
nrf24l01_initialize_debug(false, 32, true);
//Clear queues and interrupts
//Need to fill txdata[] with our data
nrf24l01_clear_flush();
char rxdata[32];
char txdata[32];
// txdata[0] = 'h';
// txdata[1] = ' ';
// txdata[2] = 't';
// txdata[3] = 'i';
// txdata[4] = 'm';
float temp = 0;
int i;
// for (i = 5; i < 30; i++) {
// txdata[i] = '!';
// }
// txdata[30] = '\n';
// txdata[31] = '\0';
while (1) {
for (i = 0; i < 5000; i++) {
ds_delay_uS(1000);
}
temp = ds_therm_read_degC(ds_read_therm());
sprintf(txdata, "%f\n", temp);
nrf24l01_write_tx_float(&temp, 32, true);
while(!(nrf24l01_irq_pin_active() && (nrf24l01_irq_tx_ds_active() || nrf24l01_irq_max_rt_active())));
//Confirms acknowledge
//if (!nrf24l01_irq_max_rt_active()) {
// nrf24l01_irq_clear_all();
// nrf24l01_set_as_rx(true);
//}
//else {
// nrf24l01_flush_tx(); //get the unsent character out of the TX FIFO
// nrf24l01_irq_clear_all(); //clear all interrupts
// printf("Node: Failed to send %c\n",txdata);
//}
//Waits for data and reads it
//while(!(nrf24l01_irq_pin_active() && nrf24l01_irq_rx_dr_active()));
//nrf24l01_read_rx_payload(rxdata, 32);
nrf24l01_irq_clear_all();
//printf(rxdata);
}
//puts into transmit mode - not needed for base station
ds_delay_uS(130);
nrf24l01_set_as_tx();
}
void main(void)
{
unsigned int channel = CHANNEL;
unsigned char data = 0x07;
unsigned char t1;
unsigned char t2;
unsigned int tmpcount = 0;
unsigned char wl_data[10];
unsigned char rs_line[20];
unsigned char rs_data[10];
unsigned char tmp_data[50];
// DBGU output configuration
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
// Configuration PIT (Periodic Interrupt Timer)
ConfigurePit();
// Configuration TC (Timer Counter)
ConfigureTc();
// Configuration PIO (Paralell In and Out port), Init Interrupt on PIO
ConfigureButtons();
ConfigureLeds();
// Configuration Radio Module nRF24L (PIO and SPI), ConfigureButtons must be executed before
ConfigureNRF24L();
ConfigureUSART0();
ConfigureUSART1();
while(Timer1Tick<2); // wait until NRF24L01 power up
nrf24l01_power_up(True);
while(Timer1Tick<4); // wait until NRF24L01 stand by
Timer1Tick = 0;
//initialize the 24L01 to the debug configuration as RX and auto-ack disabled
nrf24l01_initialize_debug(True, nrf_TX_RX_SIZE, False);
nrf24l01_write_register(0x06, &data, 1);
nrf24l01_set_as_rx(True);
Delay_US(130);
nrf24l01_set_rf_ch(channel);
nrf24l01_flush_rx();
Delay_US(300);
reset_wl = 1;
while (1) {
if( nrf_Data > 0 ) {
nrf_Data = 0;
for( t1 = 0; t1<8; t1++ ) {
wl_data[t1] = nrfRxMessage.Data[t1];
}
LED_Toggle(LED_Green);
writeByteSequence_8(wl_data);
}
if(messageUSART1){
messageUSART1 = 0;
pmsgRead(tmp_data);
while (tmp_data[tmpcount]!='\n'){
t1 = tmp_data[tmpcount];
tmpcount++;
if( t1 >= '0' && t1 <= '9' ) { // If character is 0-9 convert it to num
if( count < 20) {
rs_line[count] = t1-'0';
count++;
}
}
if( t1 >= 'A' && t1 <= 'F' ) { // If character A-F convert to 10-15
if( count < 20) {
rs_line[count] = t1-'A'+10;
count++;
}
}
}
// If character is a line break send packet
for( count = 0; count <10; count++ ) { // Convert from 16*4 to 8*8
t1 = (rs_line[count*2])<<4;
t2 = rs_line[count*2+1];
rs_data[count] = t1 | t2;
}
count = 0;
tmpcount = 0;
if( nrf_Transmission_Done == 1 ) {
TX_packet_BASE(rs_data); // Send packet.
LED_Toggle(LED_Yellow);
}
}//if msg flag has been raised
}//while
}//main
