int main()
{
init();
pinMode(14, OUTPUT);
pinMode(15, OUTPUT);
digitalWrite(15, LOW);
pinMode(radioPowerPin, OUTPUT); // power cycle radio
digitalWrite(radioPowerPin, LOW);
delay(100);
digitalWrite(radioPowerPin, HIGH);
delay(100);
pinMode(sonarPowerPin, OUTPUT);
pinMode(sonarGroundPin, OUTPUT);
digitalWrite(sonarGroundPin, LOW);
digitalWrite(sonarPowerPin, HIGH);
Sonar_Init();
Radio_Init();
Radio_Configure(RADIO_2MBPS, RADIO_HIGHEST_POWER);
Radio_Configure_Rx(RADIO_PIPE_0, sensor_address, ENABLE);
for (;;)
{
if (radio_flag)
{
radio_flag = 0;
Radio_Receive(&packet); // assumption: radio FIFO contains just one packet
if (packet.type == REQUEST_ECHO)
{
Sonar_PreTrigger();
Radio_Set_Tx_Addr(packet.payload.request.return_address);
packet.type = CONFIRM_ECHO;
packet.payload.confirm.station_id = STATION_ID;
Radio_Transmit(&packet, RADIO_WAIT_FOR_TX);
// sonar is triggered as soon as the explorer acknowledges it received the confirmation
Sonar_Trigger();
delay(50);
digitalWrite(14, LOW);
}
packet.type = EMPTY;
}
}
for (;;);
return 0;
}
void radioSend() {
/*
* Remote Station should only send message of type SENSORDATA to the
* Base Station.
*/
packet.type = SENSORDATA;
packet.payload.hovercraftData.command = NONE;
// memcpy(packet.payload.message.address, RemoteStationAddr, RADIO_ADDRESS_LENGTH);
// snprintf((char*)packet.payload.message.messagecontent, 20, msg);
// Send the packet to the address specified with Radio_Set_Tx_Addr above.
Radio_Transmit(&packet, RADIO_WAIT_FOR_TX);
}
void Net_Send(net_address to_addr, void* pkt, uint8_t len) {
packet_header* h = (packet_header*)pkt;
memcpy(h->from, _node_address, sizeof(_node_address));
Radio_Set_Tx_Addr(to_addr);
Radio_Transmit(pkt, len);
}
