/**
* \brief Setup a SPI device.
*
* The returned device descriptor structure must be passed to the driver
* whenever that device should be used as current slave device.
*
* \param spi Base address of the SPI instance.
* \param device Pointer to SPI device struct that should be initialized.
* \param flags SPI configuration flags. Common flags for all
* implementations are the SPI modes SPI_MODE_0 ...
* SPI_MODE_3.
* \param baud_rate Baud rate for communication with slave device in Hz.
* \param sel_id Board specific seclet id
*/
void spi_master_setup_device(SPI_t *spi, struct spi_device *device,
spi_flags_t flags, uint32_t baud_rate,
board_spi_select_id_t sel_id)
{
if(spi_xmega_set_baud_div(spi, baud_rate,sysclk_get_cpu_hz())<0)
{
//TODO Assert impossible baudrate
}
spi->CTRL|=(flags<<SPI_MODE_gp)&SPI_MODE_gm;
}
/**
* \brief Setup a SPI device.
*
* The returned device descriptor structure must be passed to the driver
* whenever that device should be used as current slave device.
*
* \param spi Base address of the SPI instance.
* \param device Pointer to SPI device struct that should be initialized.
* \param flags SPI configuration flags. Common flags for all
* implementations are the SPI modes SPI_MODE_0 ...
* SPI_MODE_3.
* \param baud_rate Baud rate for communication with slave device in Hz.
* \param sel_id Board specific select id
*/
void spi_master_setup_device(SPI_t *spi, struct spi_device *device,
spi_flags_t flags, uint32_t baud_rate,
board_spi_select_id_t sel_id)
{
if (spi_xmega_set_baud_div(spi, baud_rate, sysclk_get_cpu_hz()) < 0) {
Assert(false);
return;
}
/* Clear any set SPI mode flags and set them to the user-specified mode */
spi->CTRL = (spi->CTRL & ~SPI_MODE_gm) |
((flags << SPI_MODE_gp) & SPI_MODE_gm);
}
void SPI_Init(void)
{
spi_xmega_set_baud_div(&NRF24L01_L_SPI,8000000UL,F_CPU);
spi_enable_master_mode(&NRF24L01_L_SPI);
spi_enable(&NRF24L01_L_SPI);
}
int main (void)
{
En_RC32M();
PORT_init();
TimerD0_init();
PMIC_CTRL |=PMIC_LOLVLEN_bm|PMIC_MEDLVLEN_bm;
wdt_enable();
USART_R_init();
USART_L_init();
USARTD0_init();
NRF24L01_L_CE_LOW; //disable transceiver modes
NRF24L01_R_CE_LOW;
///////////////////////////////////////////////////////////////////////////////////////////spi se
spi_xmega_set_baud_div(&NRF24L01_L_SPI,8000000UL,F_CPU);
spi_enable_master_mode(&NRF24L01_L_SPI);
spi_enable(&NRF24L01_L_SPI);
spi_xmega_set_baud_div(&NRF24L01_R_SPI,8000000UL,F_CPU);
spi_enable_master_mode(&NRF24L01_R_SPI);
spi_enable(&NRF24L01_R_SPI);
sei();
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
_delay_us(10);
_delay_ms(100); //power on reset delay needs 100ms
NRF24L01_L_Clear_Interrupts();
NRF24L01_R_Clear_Interrupts();
NRF24L01_L_Flush_TX();
NRF24L01_R_Flush_TX();
NRF24L01_L_Flush_RX();
NRF24L01_R_Flush_RX();
NRF24L01_L_CE_LOW;
NRF24L01_L_Init_milad(_RX_MODE, _CH_L, _2Mbps, Address, _Address_Width, _Buffer_Size, RF_PWR_MAX);
NRF24L01_L_WriteReg(W_REGISTER | DYNPD,0x07);//0x07
NRF24L01_L_WriteReg(W_REGISTER | FEATURE,0x06);//0x06
NRF24L01_L_CE_HIGH;
NRF24L01_R_CE_LOW;
NRF24L01_R_Init_milad(_RX_MODE, _CH_R, _2Mbps, Address, _Address_Width, _Buffer_Size, RF_PWR_MAX);
NRF24L01_R_WriteReg(W_REGISTER | DYNPD,0x07);
NRF24L01_R_WriteReg(W_REGISTER | FEATURE,0x06);
NRF24L01_R_CE_HIGH;
_delay_us(130);
for (uint8_t i=0;i<Max_Robot;i++)
{
Robot_D_tmp[i].RID=12;
}
while (1)
{
//Buf_Tx_R[7][7] = 0xFF;
//Buf_Tx_R[7][8] = 0X01;
for(uint8_t i=0;i<12;i++)
{
Buf_Tx_R[i][11] = Menu_Num;
Buf_Tx_R[i][12] = (int)(kp*100);
Buf_Tx_R[i][13] = (int)(ki*100);
Buf_Tx_R[i][14] = (int)(kd*100);
}
_delay_us(1);
}
}
