u8 DS18B20_Reset(void)
{
u8 i = 0;
Set18b20IOout(); //主机端口推挽输出模式
Write18b20IO(1);
Delay_US(1);
Write18b20IO(0); //拉低总线480us~240us
Delay_US(500); //>480US延时
Write18b20IO(1);
Delay_US(2); //复位完成
Set18b20IOin(); //主机端口浮空输入模式
while(Read18b20IO()) //等待低电平应答信号
{
i ++;
Delay_US(1);
if(i > 100)
{
// uart_printf("DS18B20 error!\r\n");
return FALSE; //等待超时,初始化失败,返回FALSE;
}
}
// Delay_US(250); //跳过回复信号
Delay_US(410); //跳过回复信号
return TRUE; //检测到DS18B20,并且初始化成功
}
void DS18B20_WriteBit(u8 bit)
{
Set18b20IOout(); //主机端口推挽输出模式
Write18b20IO(0); //拉低总线10-15us
Delay_US(12);
Write18b20IO(bit & 0x01);// //写入数据位,保持20-45us
Delay_US(30);
Write18b20IO(1); //释放总线
Delay_US(5);
}
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
//powers up the 24L01 with all necessary delays
//this function takes the existing contents of the CONFIG register and sets the PWR_UP
//the argument rx_active_mode is only used if the user is setting up the
// 24L01 as a receiver. If the argument is false, the receiver will remain in
// standby mode and not monitor for packets. If the argument is true, the CE
// pin will be set and the 24L01 will monitor for packets. In TX mode, the value
// of this argument is insignificant.
//note: if the read value of the CONFIG register already has the PWR_UP bit set, this function
// exits in order to not make an unecessary register write.
void nrf24l01_power_up(bool rx_active_mode)
{
unsigned char config;
nrf24l01_read_register(nrf24l01_CONFIG, &config, 1);
if((config & nrf24l01_CONFIG_PWR_UP) != 0)
return;
config |= nrf24l01_CONFIG_PWR_UP;
nrf24l01_write_register(nrf24l01_CONFIG, &config, 1);
Delay_US(1500);
if((config & nrf24l01_CONFIG_PRIM_RX) == 0)
nrf24l01_clear_ce();
else
{
if(rx_active_mode != false)
nrf24l01_set_ce();
else
nrf24l01_clear_ce();
}
}
s16 DS18B20_ReadDesignateTemper( u8 pID[8])
{
u8 th, tl;
s16 data;
if(DS18B20_Reset() == FALSE)
{
return 0xffff; //返回错误
}
DS18B20_WriteData(0xcc); //跳过读序列号
DS18B20_WriteData(0x44); //启动温度转换
DS18B20_Reset();
DS18B20_WriteData(0xcc); //跳过读序列号
#if 0
DS18B20_WriteData(0x55); //发送序列号匹配命令
for(data = 0;data < 8;data ++) //发送8byte的序列号
{
DS18B20_WriteData(pID[data]);
}
Delay_US(10);
#endif
DS18B20_WriteData(0xbe); //读取温度
tl = DS18B20_ReadData(); //读取低八位
th = DS18B20_ReadData(); //读取高八位
data = th;
data <<= 8;
data |= tl;
data *= 6.25; //温度值扩大100倍，精确到2位小数
return data;
}
/******** Transceiver_Receive **********************************************
// Hardware trigger on IRQ occurred, change the state for transceiver state
// machine in order to read message into microcontroller
// Input: none
// Output: none
// ------------------------------------------------------------------------*/
void Transceiver_Receive ( void )
{
portBASE_TYPE xHigherPriorityTaskWoken;
unsigned char rx[TRANSCEIVER_MAX_PAYLOAD];
if ( !( nrf24l01_irq_pin_active() && nrf24l01_irq_rx_dr_active() ) )
{
// ERROR: we got interupt but the interupt is not packet received
Debug_Printf ( "Transceiver_Receive: Error 0x%x\n", nrf24l01_get_status()&nrf24l01_STATUS_INTERRUPT );
goto exit;
}
//get the payload into data
nrf24l01_read_rx_payload ( rx, TRANSCEIVER_MAX_PAYLOAD );
Debug_NetworkTransceiver_PrintPayload(rx);
if ( pdTRUE != xQueueSendFromISR(Transceiver_RX_Queue, rx, &xHigherPriorityTaskWoken) )
{
// ERROR: Queue is full
Debug_Printf ("Transceiver_Receive: Error 0x%x\n", ERROR_QUEUE_FULL);
if ( FullQueueCallBack != NULL )
xTaskCreate( Transceiver_FullQueueCallBack, ( signed portCHAR * ) "Transceiver_FullQueueCallBack",
DEFAULT_STACK_SIZE, NULL, DEFAULT_PRIORITY, NULL );
goto exit;
}
exit:
nrf24l01_irq_clear_all();
Delay_US(130);
}
__inline u8 DS18B20_ReadBit(void)
{
u8 data = 0;
Set18b20IOout(); //主机端口推挽输出模式
Write18b20IO(0); //拉低总线10-15us
Delay_US(12);
Write18b20IO(1); //释放总线
Set18b20IOin(); //主机端口浮空输入模式
Delay_US(10);
if(Read18b20IO()) //读取数据,读取后大约延时40-45us
data = 0x01;
Delay_US(40);
return data;
}
/******** Transceiver_SendMessage *******************************************
// unpack transceiver packet and send out
// Input:
// pkt - transceiver packet to be sent
// Output: status
// ------------------------------------------------------------------------*/
unsigned char Transceiver_SendMessage ( TransceiverPacket pkt )
{
unsigned char tx[TRANSCEIVER_MAX_PAYLOAD];
unsigned char index, length;
unsigned char status = SUCCESS;
// validate packet
Debug_NetworkTransceiver_PrintPacket(&pkt);
if ( MAX_DATA_SIZE < pkt.dataSize )
{
status = ERROR_INVALID_PAKCET;
Debug_Printf ("Transceiver_SendMessage: Error 0x%x\n", status);
goto exit;
}
// unpack transceiver packet
tx[SOURCE_ID_INDEX] = pkt.srcID;
tx[DEST_ID_INDEX] = pkt.destID;
tx[MSG_ID_INDEX] = pkt.msgID;
tx[DATA_SIZE_INDEX] = pkt.dataSize;
length = DATA_INDEX;
for ( index = 0; index < pkt.dataSize; index++,length++ )
{
tx[length] = pkt.data[index];
}
Debug_NetworkTransceiver_PrintPayload(tx);
// lock transceiver
while ( xSemaphoreTake(Transceiver_Mutex, portMAX_DELAY) != pdTRUE );
GPIOPinIntDisable ( nrf24l01_IRQ_IOREGISTER, nrf24l01_IRQ_PIN );
nrf24l01_set_as_tx();
nrf24l01_write_tx_payload ( tx, TRANSCEIVER_MAX_PAYLOAD, true );
//wait until the packet has been sent or the maximum number of retries has been active
while( !( nrf24l01_irq_pin_active() && (nrf24l01_irq_tx_ds_active()||nrf24l01_irq_max_rt_active()) ) );
if ( nrf24l01_irq_max_rt_active() )
{
// hit maximum number of retries
nrf24l01_flush_tx();
status = ERROR_MAX_RETRIES;
Debug_Printf ("Transceiver_SendMessage: Error 0x%x\n", status);
}
// reset transceiver
nrf24l01_irq_clear_all();
nrf24l01_set_as_rx(true);
Delay_US(130);
//unlock transceiver
GPIOPinIntEnable ( nrf24l01_IRQ_IOREGISTER, nrf24l01_IRQ_PIN );
while ( xSemaphoreGive(Transceiver_Mutex) != pdTRUE );
exit:
return status;
}
/**********读取字节*********************************/
UINT8 EEPROMReadByte(UINT16 addr)
{
EEPROMEnable();
// EA =0;
ISP_CMD = 0x01;//读模式
ISP_ADDRH = (UINT8)( (addr + EEPROM_START_ADDRESS)>>8 );
ISP_ADDRL = (UINT8) addr;
EEPROMStart();
Delay_US(11);
return (ISP_DATA);
// EA = 1;
}
/**********写入一个字节****************************/
void EEPROMWriteByte(UINT16 addr,UINT8 byte)
{
EEPROMEnable();
// EA =0;
ISP_CMD = 0x02;//写模式
ISP_ADDRH = (UINT8)( (addr + EEPROM_START_ADDRESS)>>8 );
ISP_ADDRL = (UINT8) addr;
ISP_DATA = byte;//写入数据，（一个字节）
EEPROMStart();
Delay_US(60);//写字节的等待时间
EEPROMDisable();
// EA = 1;
}
/**********擦除扇形区*****************************/
void EEPROMSectorErase(UINT16 addr)
{
EEPROMEnable();
// EA =0;
ISP_CMD = 0x03;//触发命令，擦除扇区
ISP_ADDRH = (UINT8)( (addr + EEPROM_START_ADDRESS)>>8 );
ISP_ADDRL = (UINT8) addr;
EEPROMStart();
Delay_MS(10);//擦除等待时间，约10毫秒
Delay_US(900);//万一10毫秒延时等待不够，增加900微秒的延时等待时间，确保扇区擦除完成。
EEPROMDisable();
// EA = 1;
}
//transmits the current tx payload
void nrf24l01_transmit()
{
nrf24l01_set_ce();
Delay_US(10);
nrf24l01_clear_ce();
}
/*********毫秒级延时*****************************/
void Delay_MS(UINT16 ms)
{
for(;ms>0;ms--){
Delay_US(1000);
}
}
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
