int main(void)
{
uint32_t i;
uint32_t len;
DelayInit();
GPIO_QuickInit(HW_GPIOE, 6, kGPIO_Mode_OPP);
UART_QuickInit(UART0_RX_PD06_TX_PD07, 115200);
UART_CallbackRxInstall(HW_UART0, UART_ISR);
UART_ITDMAConfig(HW_UART0, kUART_IT_Rx, true);
printf("NRF24L01 test\r\n");
/* 初始化 NRF2401模块 的SPI接口及片选 */
PORT_PinMuxConfig(HW_GPIOE, 1, kPinAlt2);
PORT_PinMuxConfig(HW_GPIOE, 2, kPinAlt2);
PORT_PinMuxConfig(HW_GPIOE, 3, kPinAlt2);
PORT_PinMuxConfig(HW_GPIOE, 4, kPinAlt2);
/* 初始化2401所需的CE引脚 */
GPIO_QuickInit(HW_GPIOE, 0 , kGPIO_Mode_OPP);
/* 初始化2401模块*/
SPI_QuickInit(SPI1_SCK_PE02_SOUT_PE01_SIN_PE03, kSPI_CPOL0_CPHA0, 1*1000*1000);
nrf24l01_init(HW_SPI1, 0);
//检测是否存在无线设备，并配置接收和发送地址
if(nrf24l01_probe())
{
printf("no nrf24l01 device found!\r\n");
}
/* 进入Rx模式 */
nrf24l01_set_rx_mode();
while(1)
{
/* 如果收到串口数据则发送 */
if(gpRevChar != NULL)
{
nrf24l01_set_tx_mode();
nrf24l01_write_packet(gpRevChar, 1);
nrf24l01_set_rx_mode();
gpRevChar = NULL;
}
/* 如果收到2401 的数据 则传输到串口 */
if(!nrf24l01_read_packet(NRF2401RXBuffer, &len))
{
i = 0;
while(len--)
{
UART_WriteByte(HW_UART0, NRF2401RXBuffer[i++]);
}
}
}
}
int main()
{
/* Semaphore creation */
vSemaphoreCreateBinary(ahrs_task_semaphore);
vSemaphoreCreateBinary(flight_control_task_semaphore);
/* Peripheral initialization */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
led_init();
debug_port_init();
usart3_init(57600);
i2c1_init();
spi1_init();
timer1_init();
pwm_timer4_init();
pwm_timer5_init();
pwm_capture_timer2_init();
pwm_capture_timer3_init();
pwm_capture_timer8_init();
//Make sure all the peripheral is finished the initialization
delay_ms(5);
/* Device initialization */
while(mpu6050_init());
while(hmc5983_init());
nrf24l01_init();
motor_init();
/* Task creation */
//Attitude and Heading Reference System (AHRS) task
xTaskCreate(ahrs_task, (portCHAR *)"AHRS task",
4096, NULL, tskIDLE_PRIORITY + 3, NULL);
xTaskCreate(flight_control_task, (portCHAR *)"Flight control task",
4096, NULL, tskIDLE_PRIORITY + 2, NULL);
#ifndef DEBUG_PRINT
//USART plot task
xTaskCreate(usart_plot_task, (portCHAR *)"USART plot task",
2048, NULL, tskIDLE_PRIORITY + 1, NULL);
#endif
/* Start schedule */
vTaskStartScheduler();
return 0;
}
int main(void) {
#ifdef DEBUGPRINT
uart_init(UART_BAUD_SELECT_DOUBLE_SPEED(57600, F_CPU));
#endif
char* node_address = "OWRF1";
node_address[4] += NODENUM;
OWInit(5);
nrf24l01_init();
nrf24l01_settxaddr((uint8_t*) node_address);
nrf24l01_setrxaddr(0, (uint8_t*) node_address);
nrf24l01_setrxaddr(1, (uint8_t*) "OWRF0");
sei();
for (;;) {
uint8_t pipe;
if (nrf24l01_readready(&pipe)) {
int len = owrf_read(transfer_buf);
if (len != -1) {
#ifdef DEBUGPRINT
debugPrint("channel=%d command=%X datalen=%d\r\n", transfer_buf[0], transfer_buf[1], transfer_buf[2]);
for (int i = 0; i < transfer_buf[2]; i++) {
debugPrint(">%02X", transfer_buf[i+3]);
}
debugPrint("\r\n");
#endif
if (transfer_buf[0] == NODENUM) {
len = doSlave(transfer_buf + 1) + 3;
#ifdef DEBUGPRINT
debugPrint("retval=%X datalen=%d\r\n", transfer_buf[1], transfer_buf[2]);
for (int i = 0; i < transfer_buf[2]; i++) {
debugPrint("<%02X", transfer_buf[i+3]);
}
debugPrint("\r\n");
#endif
_delay_ms(5);
owrf_write(transfer_buf, len);
}
}
}
}
}
void rf24test()
{
uint8_t test_pipe = 0;
byte* payload = "qwerasd1qwerasd2qwerasd3qwerasd4";
byte* rx_pld = "11111111111111111111111111111111";
uint8_t payload_len = strlen(payload);
memset(rx_pld, '\0', payload_len);
nrf24l01_conf_t writer;
nrf24l01_init_config(&writer);
writer.ce_port= &PORTD;
writer.ce_pin = PD6;
writer.ss_port = &PORTC;
writer.ss_pin = PC4;
writer.pipe_addr_len = 0;
usart_write_string_line("Initializing..");
DBG_VALUE("Writer: Init: ", nrf24l01_init(&writer, &DDRD, &DDRC));
DBG_VALUE("Writer: Speed: ", nrf24l01_get_speed(&writer));
DBG_VALUE("Writer: Channel: ", nrf24l01_get_channel(&writer));
DBG_VALUE("Writer: Status: ", nrf24l01_get_status(&writer));
nrf24l01_set_retries(&writer, 4, 2);
nrf24l01_set_power_amplifier(&writer, NRF24L01_PA_MAX);
nrf24l01_enable_dynamic_payload_on_pipe(&writer, test_pipe, NRF24L01_ENABLE);
nrf24l01_print_addresses(&writer);
usart_write_string_line("Preparing for write:");
nrf24l01_prepare_for_write_to_addr(&writer, (byte*) "2Node", payload_len,NRF24L01_DISABLE);
nrf24l01_print_status(&writer);
while(1)
{
nrf24l01_set_retries(&writer, 1, 1);
usart_write_string_line("Writing:");
nrf24l01_write(&writer, payload, payload_len - 5);
nrf24l01_print_status(&writer);
usart_write_string_line("Ending writing:");
nrf24l01_end_writing_keep_irq(&writer);
nrf24l01_print_status(&writer);
usart_read_byte();
}
}
int main()
{
struct nrf24l01_driver_t nrf24l01;
struct pin_driver_t pin[3];
uint8_t state[32];
sys_start();
nrf24l01_init(&nrf24l01,
&spi_device[0],
&pin_d10_dev,
&pin_d6_dev,
&exti_device[1],
SERVER_ADDRESS);
nrf24l01_start(&nrf24l01);
/* Initialize led pins. */
pin_init(&pin[0], &pin_d7_dev, PIN_OUTPUT);
pin_init(&pin[1], &pin_d8_dev, PIN_OUTPUT);
pin_init(&pin[2], &pin_d9_dev, PIN_OUTPUT);
pin_write(&pin[0], 0);
pin_write(&pin[1], 0);
pin_write(&pin[2], 0);
while (1) {
/* Read state from client. */
nrf24l01_read(&nrf24l01, state, sizeof(state));
std_printf(FSTR("state = 0x%x\r\n"), (int)state[0]);
/* Upadte LED. */
pin_write(&pin[0], (state[0] >> 0) & 0x1);
pin_write(&pin[1], (state[0] >> 1) & 0x1);
pin_write(&pin[2], (state[0] >> 2) & 0x1);
}
return (0);
}
void sMCIfaceRF_init() {
nrf24l01_init();
}
//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)
