//main routine
int main(void)
{
unsigned char data; //register to hold letter received and sent
Initialize(); //initialize PLL, IO, SPI, set up nRF24L01 as RX
//main program loop
while(1)
{
//wait until a packet has been received
while(!(nrf24l01_irq_pin_active() && nrf24l01_irq_rx_dr_active()));
nrf24l01_read_rx_payload(&data, 1); //read the packet into data
nrf24l01_irq_clear_all(); //clear all interrupts in the 24L01
PORTC = data;
// DelayUS(130); //wait for the other 24L01 to come from standby to RX
_delay_us(35);
_delay_us(35);
_delay_us(35);
_delay_us(25);
nrf24l01_set_as_tx(); //change the device to a TX to send back from the other 24L01
nrf24l01_write_tx_payload(&data, 1, true); //transmit received char over RF
//wait until the packet has been sent
while(!(nrf24l01_irq_pin_active() && nrf24l01_irq_tx_ds_active()));
nrf24l01_irq_clear_all(); //clear interrupts again
nrf24l01_set_as_rx(true); //resume normal operation as an RX
// ToggleLED(); //toggle the on-board LED as visual indication that the loop has completed
}
}
/******** 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;
}
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
//main routine
int main()
{
unsigned char data; //register to hold letter sent and received
unsigned int count; //counter for for loop
Initialize(); //initialize PLL, IO, UART, SPI, set up nRF24L01 as TX
stdout = &my_stream;
stdin = &my_stream;
printf_P(PSTR(" type character to send \n"));
//main program loop
while(1)
{
//check UART status register to see if data has been received. if so, process
while(usart0_rx_data_ready())
{
// data = usart0_get_rx_data(); //get data from UART
data = getchar(); //get data from UART
PORTC = data;
nrf24l01_write_tx_payload(&data, 1, true); //transmit received char over RF
//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())));
//check to see if the maximum number of retries has been hit. if not, wait for the RX device
// to send the char back. if so, assume the packet is lost and send "*" back to UART
if(!nrf24l01_irq_max_rt_active())
{
nrf24l01_irq_clear_all(); //clear all interrupts in the 24L01
nrf24l01_set_as_rx(true); //change the device to an RX to get the character back from the other 24L01
//wait a while to see if we get the data back (change the loop maximum and the lower if
// argument (should be loop maximum - 1) to lengthen or shorten this time frame
for(count = 0; count < 25000; count++)
{
//check to see if the data has been received. if so, get the data and exit the loop.
// if the loop is at its last count, assume the packet has been lost and set the data
// to go to the UART to "?". If neither of these is true, keep looping.
if((nrf24l01_irq_pin_active() && nrf24l01_irq_rx_dr_active()))
{
nrf24l01_read_rx_payload(&data, 1); //get the payload into data
break;
}
//if loop is on its last iteration, assume packet has been lost.
if(count == 24999)
data = '?';
}
nrf24l01_irq_clear_all(); //clear interrupts again
printf("%c", data); //print the received data (or ? if none) to the screen
// DelayUS(130); //wait for receiver to come from standby to RX
_delay_us(35);
_delay_us(35);
_delay_us(35);
_delay_us(25);
nrf24l01_set_as_tx(); //resume normal operation as a TX
}
else
{
nrf24l01_flush_tx(); //get the unsent character out of the TX FIFO
nrf24l01_irq_clear_all(); //clear all interrupts
printf("*"); //print "*" to the screen to show that the receiver did not receive the packet
}
// ToggleLED(); //toggle the on-board LED as visual indication that the loop has completed
}
}
}
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
