void calibrate(void)
{
mrf.SetChannel(15);
int i;
while (!status)
{
sprintf(txBuffer, "Switch\r\n");
rf_send(txBuffer, strlen(txBuffer) + 1);
printf("Sent:%s\r\n", txBuffer);
wait_ms(30);
for (i=0; i<1; i++)
{
rxLen = rf_receive(rxBuffer, 128);
printf("Received Length:%d\r\n", rxLen);
while (rxLen <= 0)
{
printf("Listening\r\n");
rxLen = rf_receive(rxBuffer, 128);
}
active = rxBuffer[8] - 48;
}
if (active == 1)
{
printf("Switch Done!\r\n");
status = 1;
//break;
}
}
//mrf.SetChannel(com_channel);
}
int main(void)
{
__disable_interrupt();
sys_init();
__delay_cycles(8000000);//Защита от коротких нажатий
P1OUT |= BIT6; //защелкиваем питание
led(1);
ADC10_Init();
AFE_Init();
rf_init();
TACCR0 = 0xFFFF;// запуск таймера
__enable_interrupt();
while (1)
{
if(rf_rx_data_ready_fg) {
onRF_MessageReceived();
rf_rx_data_ready_fg = 0;
}
if (packetDataReady){
uchar packetSize = assemblePacket();
rf_send((uchar*)&packet_buf[0], packetSize);
packetDataReady = 0;
}
if(rf_rx_data_ready_fg || packetDataReady){
// идем по циклу снова
}else{
__bis_SR_register(CPUOFF + GIE); // Уходим в спящий режим
}
}
}
__interrupt void USCI0TX_ISR(void) {
UCA0TXBUF = rf_tx_buf[rf_tx_cntr++];
if (rf_tx_cntr > (rf_tx_buf_size - 1)) { // TX over?
rf_tx_buf_size = 0;
if(rf_tx_buf_1_size){
rf_send(rf_tx_buf_1,rf_tx_buf_1_size); //start sending packet from the queue
rf_tx_buf_1_size = 0;
}else{ //nothing to send in rf_tx_buf_1
IE2 &= ~UCA0TXIE; // Disable USCI_A0 TX interrupt
}
}
}
/*-----------------Обработка полученного с компьютера сообщения--------------*/
void onRF_MessageReceived(){
switch(rf_rx_buf[0]){
case 0xFF: //stop recording command
stopRecording();
rf_send(stopRecordingResponceMessage,5);
break;
case 0xFE: //start recording command
startRecording();
break;
case 0xFD: //hello command
rf_send(helloMsg,5);
break;
case 0xFC: //версия прошивки
rf_send(firmwareVersion,7);
break;
case 0xFB: //ping command
pingCntr = 0;
break;
case 0xFA: //hardware config request
rf_send(hardwareConfigMessage,7);
break;
default:
if((rf_rx_buf_size < rf_rx_buf[0]) && (rf_rx_buf[0] < 0xFA)){//проверяем длину однобайтовой команды
rf_send(unknownOneByteCmdError,7);
}
//проверяем два последних байта == маркер конца пакета
if(((rf_rx_buf[rf_rx_buf[0]-1] == 0x55) && (rf_rx_buf[rf_rx_buf[0]-2] == 0x55))){
onRF_MultiByteMessage();
}else{
rf_send(noStopMarkerError,7);
}
break;
}
}
int main (void) {
uint8_t channel = 2;
//The wheels do not spin at same speed so calibration is required
calibrate_right = 4/3;
//Set the Channel. 0 is default, 15 is max
mrf.SetChannel(channel);
//Start the timer
timer.start();
while(true) {
//Try to receive some data
rxLen = rf_receive(rxBuffer, 128);
if(rxLen > 0) {
pc.printf("Received: %s\r\n", rxBuffer);
}
//Send some data every .1 second
if(timer.read_ms() >= 100) {
//Reset the timer to 0
timer.reset();
//Calibration to get the full range of joystick
if(LeftV.read() <= 0.35 || LeftV.read() >= 0.65) {
L = (0.5 - LeftV.read()) * 300;
S = 300;
}
//If close to middle (.5+error) then do nothing
else {
L = 0;
S = 0;
}
//More calibration
if((1.0 - RightV.read()) <= 0.35 || (1.0 - RightV.read()) >= 0.65) {
R = (0.5 - (1.0 - RightV.read())) * 300 * calibrate_right;
S = 300;
}
else {
R = 0;
}
//Add the setmotor command to the buffer
sprintf(txBuffer, "setmotor %d %d %d", L, R, S);
//Send the buffer
rf_send(txBuffer, strlen(txBuffer) + 1);
pc.printf("Sent: %s\r\n", txBuffer);
}
}
}
//!< Функция вызывается, когда принят по uart байт.
void uart_rx_cb(uint8_t ch)
{
rf_TX_buffer[uart_rx_ptr++] = ch;
if(uart_rx_ptr == RF_BUFFER_SIZE) uart_rx_ptr = 0;
if ((ch == '\n') || (ch == '\r'))
{
uart_putchar('\r', NULL);
uart_putchar('\n', NULL);
rf_send(rf_TX_buffer, uart_rx_ptr);
uart_rx_ptr = 0;
} else
{
uart_putchar(ch, NULL);
}
}
int main()
{
unsigned char idx;
unsigned int i = 0;
store_cpu_rate(16);
P0_DIR &= ~0x28;
P0_ALT &= ~0x28;
rf_init();
rf_configure(cfg);
serial_init(19200);
eco_page_init();
//long_function(4,6,8,4);
msg[0] = 0x0A;
msg[1] = 0x00;
/* ADDR */
msg[2] = 0x02;
msg[3] = 0xA0;
/* LEN */
msg[4] = 0x02;
msg[5] = 0xDD;
msg[6] = 0xCC;
for(idx = 4; idx > 0; idx--)
{
blink_led();
mdelay(300);
}
mdelay(1000);
while(1)
{
blink4();
rf_send(dst_addr, 3, msg, 7);
blink2();
mdelay(200);
blink6();
}
return 0;
}
//MEthod to unpack the OSC message and send it using the zigbee modules. It retrieves the values in all the fields of the OSC object and creates an
//appropriate OSC message.
void OSCclass::sendOSCmsg(OSCmsg *sendmsg){
if(sendmsg->getType() == 0)
ttype = 'n';
else ttype = sendmsg->getType();
strncpy(addr,sendmsg->getAddr(),5);
strncpy(packet,sendmsg->getAddr(),5);
packet[5] = ',';
packet[6]= ttype;
packet[7] = sendmsg->getArgs();
packet[8] = 0;
printf("OSc mesage %s\r\n",packet);
//Send this message on the zigbee
rf_send(packet,8);
printf("sent %s %d \r\n",packet,strlen(packet));
}
void udp_transpond_demo(void* parameter)
{
int sock;
//int n, off;
struct sockaddr_in server_addr;
struct sockaddr_in remote_addr;
socklen_t addr_len = sizeof(remote_addr);
rt_uint8_t run_flag = 1;
if ((sock = socket(AF_INET, SOCK_DGRAM, 0)) == -1){
rt_kprintf("Socket error\n");
goto __exit;
}
memset(&server_addr, 0, sizeof(server_addr));
server_addr.sin_family = AF_INET;
server_addr.sin_port = htons(6000);
server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
if (bind(sock, (void *)&server_addr, sizeof(server_addr)) == -1) {
rt_kprintf("Bind error\n");
lwip_close(sock);
run_flag = 0;
}
rt_kprintf("udp_recv_demo start.\n");
while (run_flag) {
//基站发包流速控制在1.8ms，丢包率在0.1%
recvfrom(sock, &data, sizeof(data), 0, (void *)&remote_addr, &addr_len);
rf_send((void *)&data.id, (void *)&data.data, data.data_len);
//如果需要检查ACK，则打开接收
if (data.rcv_len > 0 && rf_recv((void *)&data.data, data.rcv_len) == 0)
sendto(sock, data.data, data.rcv_len, 0, (void *)&remote_addr, addr_len);
}
lwip_close(sock);
__exit:
rt_kprintf("udp_recv_demo end.\n");
}
status_t msg_send(const msgType* txMsg)
{
uint16_t rfAddress = RF_PARENT_ADDRESS;
#ifdef MSG_GATEWAY_NODE
if (txMsg->type == MSG_TYPE_SENSORDATA) {
putchar(0x02); /* STX */
putchar(txMsg->length);
putchar(HIGH_BYTE(txMsg->address));
putchar(LOW_BYTE(txMsg->address));
for (uint8_t i = 0; i < txMsg->length; i++) {
putchar(txMsg->data[i]);
}
putchar(0x03); /* ETX */
return STATUS_OK;
}
#endif
#ifndef MSG_LEAF_NODE
if (txMsg->type != MSG_TYPE_SENSORDATA) {
/* Search through parents of the end destination node, until the current
* node is found. The actual address this node should send to will then
* be one level below this.
*/
rfAddress = txMsg->address;
while (RF_LOCAL_ADDRESS != getParent(rfAddress)) {
rfAddress = getParent(rfAddress);
if (rfAddress == 0) {
return STATUS_INVALID_ARG; /* Something's gone wrong... */
}
}
}
#endif
rf_send(rfAddress, (uint8_t const*)txMsg, txMsg->length + MSG_OVERHEAD_SIZE);
return STATUS_OK;
}
void onRF_MultiByteMessage(){
uchar msgOffset = 1;
while (msgOffset < (rf_rx_buf[0]-2)){
if(rf_rx_buf[msgOffset] == 0xF0){//команда для ads1292
AFE_Cmd(rf_rx_buf[msgOffset+1]);
msgOffset+=2;
}else if(rf_rx_buf[msgOffset] == 0xF1){//Запись регистров ads1298
AFE_Write_Reg(rf_rx_buf[msgOffset+1], rf_rx_buf[msgOffset+2], &rf_rx_buf[msgOffset+3]);
msgOffset+=rf_rx_buf[msgOffset+2]+3;
}else if(rf_rx_buf[msgOffset] == 0xF2){//делители частоты для ads1298 8 значений
for(int i = 0; i<8; i++){
if((rf_rx_buf[msgOffset+1+i] == 0) || (rf_rx_buf[msgOffset+1+i] == 1) ||
(rf_rx_buf[msgOffset+1+i] == 2) || (rf_rx_buf[msgOffset+1+i] == 5) || (rf_rx_buf[msgOffset+1+i] == 10)){
div[i] = rf_rx_buf[msgOffset+1+i];
}
}
msgOffset+=9;
}else if(rf_rx_buf[msgOffset] == 0xF3){//Режим работы акселерометра
setAccelerometerMode(rf_rx_buf[msgOffset+1]);
msgOffset+=2;
}else if(rf_rx_buf[msgOffset] == 0xF4){//Передача данных батарейки
measureBatteryVoltage(rf_rx_buf[msgOffset+1]);
msgOffset+=2;
}else if(rf_rx_buf[msgOffset] == 0xF5){//передача данных loff статуса
loffStatEnable = rf_rx_buf[msgOffset+1];
msgOffset+=2;
}else if(rf_rx_buf[msgOffset] == 0xF6){//RF reset timeout при отсутствии Ping команды с компьютера.
resetTimeout = rf_rx_buf[msgOffset+1] * 4;
msgOffset+=2;
}else if(rf_rx_buf[msgOffset] == 0xFE){//start recording command
startRecording();
msgOffset+=1;
}else{
rf_send(unknownMultiByteCmdError,7);
return;
}
}
}
int main(void)
{
__disable_interrupt();
sys_init();
led(1);
ADC10_Init();
AFE_Init();
rf_init();
TACCR0 = 0xFFFF; // запуск таймера
__enable_interrupt();
while (1)
{
if (rf_rx_data_ready_fg)
{
onRF_MessageReceived();
rf_rx_data_ready_fg = 0;
}
if (packetDataReady)
{
uchar packetSize = assemblePacket();
rf_send((uchar*) &packet_buf[0], packetSize);
packetDataReady = 0;
}
if (rf_rx_data_ready_fg || packetDataReady)
{
; // идем по циклу снова
}
else
{
__bis_SR_register(CPUOFF + GIE); // Уходим в спящий режим
}
}
}
void sendNumber(int n)
{
sprintf(txbuffer,"%d",n);
rf_send(txbuffer, strlen(txbuffer)+1);
}
__interrupt void TimerA_ISR(void)
{
TACTL &= ~TAIFG;
if(rfResetCntr == 0x01){
P3OUT |= BIT7;//BT reset pin hi
rfResetCntr = 0;
}
if(isRecording){
if(resetTimeout){
pingCntr++;
if(pingCntr > resetTimeout){//no signal from host for ~ resetTimeout * 4 seconds
P3OUT &= ~BIT7; //BT reset pin lo
if (rfResetCntr == 0)rfResetCntr = 1;
pingCntr = 0;
}
}
}else{//if not recording
long new_data[4];
ADC10_Read_Data(&new_data[0]);
addBatteryData(new_data[3]);
ADC10_Measure();
}
if(!(BIT5 & P2IN)){// if power button pressed
btnCntr++;
}else{
btnCntr = 0;
}
if(BIT0 & P1IN){// if rf connected
rfConStat = 1;
}else{
rfConStat = 0;
}
if(!(BIT4 & P2IN)){// if charge plug connected
if(shutDownCntr == 0){
shutDownCntr = 1;
rf_send(chargeShutDownMessage,5);
}
}
if(btnCntr >= (4)){ //1 сек задержка перед выключением
led(1);
P1OUT &= ~BIT6; //power hold pin
while(1){} //ждем отпускания кнопки
}
if(!lowBatteryMessageAlreadySent){
if(sumBatteryVoltage < BATT_LOW_TH){
lowBatteryMessageAlreadySent = 1;
rf_send(lowBatteryMessage,7);
if (shutDownCntr == 0) shutDownCntr = 1;
}
}
if(shutDownCntr){
shutDownCntr++;
if(shutDownCntr > 4){//wait 1 second before shut down
P1OUT &= ~BIT6; //power hold pin
}
}
if(powerUpCntr){
powerUpCntr++;
if(powerUpCntr >= 2400){//забыли выключить питание (не стартует запись в теечение ~10 минут)
P1OUT &= ~BIT6; //отключаем питание
}
if(powerUpCntr%2){
led(1);
}else{
led(0);
}
}
if(rf_delete_unfinished_incoming_messages()){
rf_send(unfinishedIncomingMsgError,7);
}
if(rf_tx_fail_flag){//debug information maybe delete
rf_tx_fail_flag = 0;
rf_send(txFailError,7);
}
}
__interrupt void TimerA_ISR(void)
{
TACTL &= ~TAIFG;
if (rfResetCntr == 0x01)
{
P3OUT |= BIT7; // BT reset pin hi
rfResetCntr = 0;
}
if (isRecording && rfConStat)
{
if (resetTimeout)
{
pingCntr++;
if (pingCntr > resetTimeout)
{ // no signal from host for ~ resetTimeout * 4 seconds
P3OUT &= ~BIT7; // BT reset pin lo
if (rfResetCntr == 0) rfResetCntr = 1;
pingCntr = 0;
}
}
}
else
{ // if not recording
long new_data[4];
ADC10_Read_Data(&new_data[0]);
addBatteryData(new_data[3]);
ADC10_Measure();
}
if (BIT0 & P1IN) // if rf connected
rfConStat = 1;
else
rfConStat = 0;
if (!lowBatteryMessageAlreadySent)
{
if (sumBatteryVoltage < BATT_LOW_TH)
{
lowBatteryMessageAlreadySent = 1;
rf_send(lowBatteryMessage, 7);
if(shutDownCntr == 0)
shutDownCntr = 1;
}
}
if (powerUpCntr)
{
powerUpCntr++;
if (powerUpCntr >= 2400) // забыли выключить питание (не стартует запись в теечение ~10 минут)
{
if (shutDownCntr == 0)
shutDownCntr = 1;
}
if (powerUpCntr % 2)
led(1);
else
led(0);
}
if (shutDownCntr)
{
shutDownCntr++;
if (shutDownCntr > 4)
{ // wait 1 second before shut down
AFE_StopRecording();
P3OUT &= ~BIT7; // BT reset pin low
TACCR0 = 0x00;
led(0);
}
}
if (rf_delete_unfinished_incoming_messages())
rf_send(unfinishedIncomingMsgError, 7);
if(rf_tx_fail_flag)
{ // debug information maybe delete
rf_tx_fail_flag = 0;
rf_send(txFailError, 7);
}
}
int main (void)
{
pc.baud(115200);
RoboState1 = Charging;
RoboState2 = Charging;
State = Picking;
int xpos = x_min;
int ypos = x_max;
float xre = 0;
float yre = 0;
while(true){
switch(State){
default:
State = Picking;
break;
case 1: //Done
State = Done;
break;
case 2: //Picking
mrf.SetChannel(channel1);
rxLen = rf_receive(rxBuffer, 128);
State = Picking;
if (rxLen>0 && rxBuffer[0] == 'R'){ //if robot1 is ready
wait(0.5);
RoboState1 = Working;
sprintf(txBuffer, "%d %d %d %d %d\r\n",xpos,ypos,y_max,y_min,x_max);
rf_send(txBuffer, strlen(txBuffer) + 1);
State = Waiting;
}else{
mrf.SetChannel(channel2);
rxLen = rf_receive(rxBuffer, 128);
if (rxLen>0 && rxBuffer[0] == 'R'){ //else if robot2 is ready
wait(0.5);
sprintf(txBuffer, "%d %d %d %d %d\r\n",xpos,ypos,y_max,y_min,x_max);
RoboState2 = Working;
rf_send(txBuffer, strlen(txBuffer) + 1);
State = Waiting;
}
}
break;
case 3: //Waiting
rxLen = rf_receive(rxBuffer, 128);
State = Waiting;
if(rxLen > 0) {
led1 = led1^1;
pc.printf("%s", rxBuffer);
if(rxBuffer[0] == 'D'){
sscanf(rxBuffer, "Died: %f,%f\r\n", &xre, &yre);
xpos = int(xre);
ypos = int(yre);
State = Waiting;
}
if(rxBuffer[0] == 'F'){
State = Done;
}
if(rxBuffer[0] == 'C'){
if (RoboState1 == Working){
RoboState1 = Charging;
}
if (RoboState2 == Working){
RoboState2 == Charging;
}
State = Picking;
}
}
break;
}
}
}
int main(){
Buzzer.write(0);
mrf.SetChannel(com_channel);
clock_init();
cam_init();
pc.baud(115200);
State = WAITING;
Battery_Level = Battery_Time;
t_battery.reset();
int start_x, start_y, y_min, y_max, dest_x;
active = 1;
mrf.SetChannel(15);
for (int i=0; i<3; i++){ //load the tile it is under;
rxLen = rf_receive(rxBuffer, 128);
while (rxLen <= 0){
rxLen = rf_receive(rxBuffer, 128);
}
sscanf(rxBuffer,"active: %d\r\n", &active);
}
pc.printf("the active value is: %d\r\n", active);
mrf.SetChannel(com_channel);
while(1){
switch(State){ //use a state machine to control the behavior or a slave
default:
State = WAITING;
break;
case 1: //Waiting
sprintf(txBuffer, "Ready\r\n");
rf_send(txBuffer, strlen(txBuffer) + 1);
robot.stop();
rxLen = rf_receive(rxBuffer, 128);
if (rxLen > 0){
int res = sscanf(rxBuffer, "%d %d %d %d %d\r\n", &start_x, &start_y, &y_min, &y_max, &dest_x);
if (res){
sprintf(txBuffer, "Yes\r\n");
rf_send(txBuffer, strlen(txBuffer) + 1);
State = WORKING;
}
}else{
State = WAITING;
}
break;
case 2: //Working
Buzzer.write(1);
wait(0.2);
Buzzer.write(0);
go_to(start_x, start_y);
Buzzer.write(1);
wait(0.6);
Buzzer.write(0);
if (zig_zag(y_max, y_min, dest_x) > 0){
robot.stop();
sprintf(txBuffer, "Finished\r\n");
rf_send(txBuffer, strlen(txBuffer) + 1);
State = WAITING;
}else{
robot.stop();
rotate(90);
Locate(position);
sprintf(txBuffer, "Died: %3.2f,%3.2f\r\n",position[0],position[1]);
rf_send(txBuffer, strlen(txBuffer) + 1);
for (int b=0; b<3; b++){
Buzzer.write(1);
wait(0.2);
Buzzer.write(0);
wait(0.2);
}
go_to(Charging_X, Charging_Y);
State = CHARGING;
}
break;
case 3: //charging
sprintf(txBuffer, "Charging: %d\r\n",Battery_Level);
rf_send(txBuffer, strlen(txBuffer) + 1);
rxLen = rf_receive(rxBuffer, 128);
if (rxLen > 0){
int res = sscanf(rxBuffer, "%d %d %d %d %d\r\n", &start_x, &start_y, &y_min, &y_max, &dest_x);
if (res){
State = WORKING;
}
}else{
State = CHARGING;
}
wait(1);
Battery_Level += 3;
if (Battery_Level >= Battery_Time){
Battery_Level = Battery_Time;
State = WAITING;
}
break;
}
}
}
