/**
* @init transceiver
*/
int cmd_its(int argc, char **argv)
{
(void) argc;
(void) argv;
puts("Init Transceiver\n");
/* initialize transceiver device */
if (nrf24l01p_init(&nrf24l01p_0, SPI_PORT, CE_PIN, CS_PIN, IRQ_PIN) < 0) {
puts("Error in nrf24l01p_init");
return;
}
/* create thread that gets msg when data arrives */
if (thread_create(
rx_handler_stack, sizeof(rx_handler_stack), PRIORITY_MAIN - 1, 0,
nrf24l01p_rx_handler, 0, "nrf24l01p_rx_handler") < 0) {
puts("Error in thread_create");
return;
}
/* setup device as receiver */
if (nrf24l01p_set_rxmode(&nrf24l01p_0) < 0) {
puts("Error in nrf24l01p_set_rxmode");
return 1;
}
return cmd_print_regs(0, 0);
}
void nerf_init (volatile unsigned char* hostTris, volatile unsigned char* hostLat, volatile unsigned char* hostPort,
volatile unsigned char* nrfTris, volatile unsigned char* nrfLat, volatile unsigned char* nrfPort, uint8_t* myAddress){
GpioProvider standardProvider = gpioProvider_createStandardGpioProvider (hostTris, hostLat, hostPort);
bitbang_init (standardProvider);
nrf24l01p_init (NERF_MAX_MESSAGE_LENGTH, nrfTris, nrfLat, nrfPort, 0, 1, 2, 3, 4, 5);
nrf24l01p_listenForMessage (myAddress);
for (unsigned x = 0; x < NERF_ADDRESS_LENGTH; x++) nerf_targetAddress [x] = 0x00;
nerf_clearOutgoingMessage();
nerf_clearIncomingMessage();
}
void loopSendingTestMessage(){
TRISC = 0x00;
message [8] = 0x00;
nrf24l01p_init (8, &TRISB, &LATB, &PORTB, 0, 1, 2, 3, 4, 5);
while(1)
{
LATC = 0xff;
nrf24l01p_sendMessage(receiverAddress, message);
LATC = 0x00;
sleepForABit();
}
}
void loopReceivingTestMessage(){
TRISC = 0x00;
LATC = 0x00;
nrf24l01p_init (8, &TRISB, &LATB, &PORTB, 0, 1, 2, 3, 4, 5);
nrf24l01p_listenForMessage(receiverAddress);
while (1)
{
for (unsigned int x = 0; x < 9; x++) message [x] = 0x00;
if (nrf24l01p_isMessageWaiting()){
nrf24l01p_getMessage (message);
if (message [0] == 'T') LATC = 0xff;
}
}
}
int main(void) {
ROM_FPUEnable();
ROM_FPULazyStackingEnable();
ROM_SysCtlClockSet(
SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
SysTickPeriodSet(SysCtlClockGet() / TICKFREQ); //tickfreq in Hz
SysTickIntEnable();
SysTickEnable();
#ifdef DEBUG
InitConsole();
#endif
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
ROM_IntMasterEnable();
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE,
GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
GPIOPinConfigure(GPIO_PC6_U3RX);
GPIOPinConfigure(GPIO_PC7_U3TX);
GPIOPinConfigure(GPIO_PB0_U1RX);
GPIOPinConfigure(GPIO_PB1_U1TX);
ROM_GPIOPinTypeUART(GPIO_PORTC_BASE,
GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);
ROM_GPIOPinTypeUART(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
ROM_UARTFIFOEnable(UART1_BASE);
ROM_UARTFIFOEnable(UART3_BASE);
ROM_UARTConfigSetExpClk(UART3_BASE, ROM_SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_UARTConfigSetExpClk(UART1_BASE, ROM_SysCtlClockGet(), 38400,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_IntEnable(INT_UART1);
ROM_UARTIntEnable(UART1_BASE, UART_INT_RX | UART_INT_RT); // ONLY recieve inturrupt
ROM_IntEnable(INT_UART3);
ROM_UARTIntEnable(UART3_BASE, UART_INT_RX | UART_INT_RT); // ONLY recieve inturrupt
I2CSetup(I2C0_MASTER_BASE, true);
setupServos();
UARTprintf("init");
nrf24l01p_init(3);
nrf24l01p_setRADDR((uint8_t *) "Boat");
nrf24l01p_setPayLoad(DATA_BUFFER_MAX);
nrf24l01p_setChannel(1);
nrf24l01p_config();
nrf24l01p_setTADDR((uint8_t *) "Base");
// nrf24l01p_send((unsigned char *) &"Init");
GPIOPortIntRegister(GPIO_PORTA_BASE, portAIntHandler);
GPIOIntTypeSet(GPIO_PORTA_BASE, GPIO_PIN_5, GPIO_FALLING_EDGE);
GPIOPinIntEnable(GPIO_PORTA_BASE, GPIO_PIN_5);
unsigned char p = 0;
nrf24l01p_readRegister(0x00, &p, 1);
UARTprintf(" ");
while (1) {
sortGPSSentence();
}
}
