void CC_t::Task(void) {
if (IsShutdown) return;
// Do with CC what needed
GetState();
switch (State) {
case CC_STB_RX_OVF:
klPrintf("RX ovf\r");
FlushRxFIFO();
break;
case CC_STB_TX_UNDF:
klPrintf("TX undf\r");
FlushTxFIFO();
break;
case CC_STB_IDLE:
if (SearchState == IsWaiting) {
EnterRX();
}
else {
//klPrintf("TX\r");
// Prepare packet to send
TX_Pkt.To = 207;
WriteTX();
EnterTX();
//klPrintf("TX\r");
}
break;
default: // Just get out in other cases
//klPrintf("Other: %X\r", State);
break;
} //Switch
}
void CC_t::TransmitAndWaitIdle(void) {
WaitUntilChannelIsBusy(); // If this is not done, time after time FIFO is destroyed
EnterIdle();
WriteTX((uint8_t*)(&PktTx), CC_PKT_LEN);
EnterTX();
while(IrqPin == 0); // Wait until sync word is sent
while(IrqPin == 1); // Wait until transmission completed
}
void cc1101_t::Transmit(void *Ptr, uint8_t Length) {
// WaitUntilChannelIsBusy(); // If this is not done, time after time FIFO is destroyed
do {
EnterIdle();
} while(IState != CC_STB_IDLE);
WriteTX((uint8_t*)Ptr, Length);
EnterTX();
}
void cc1101_t::TransmitAsync(rPkt_t *pPkt) {
// WaitUntilChannelIsBusy(); // If this is not done, time after time FIFO is destroyed
PWaitingThread = NULL;
State = ccTransmitting;
while(IState != CC_STB_IDLE) EnterIdle();
WriteTX((uint8_t*)pPkt, RPKT_LEN);
EnterTX();
}
void CC_t::Transmit(void) {
do {
EnterIdle();
} while(IState != CC_STB_IDLE);
WriteTX((uint8_t*)(&PktTx), CC_PKT_LEN);
Aim = caTx;
EnterTX();
}
void cc1101_t::Transmit(void *Ptr) {
// WaitUntilChannelIsBusy(); // If this is not done, time after time FIFO is destroyed
while(IState != CC_STB_IDLE) EnterIdle();
WriteTX((uint8_t*)Ptr, IPktSz);
// Enter TX and wait IRQ
chSysLock();
EnterTX();
chThdSuspendS(&ThdRef); // Wait IRQ
chSysUnlock(); // Will be here when IRQ fires
}
void cc1101_t::TransmitSync(void *Ptr) {
// WaitUntilChannelIsBusy(); // If this is not done, time after time FIFO is destroyed
while(IState != CC_STB_IDLE) EnterIdle();
WriteTX((uint8_t*)Ptr, IPktSz);
// Enter TX and wait IRQ
chSysLock();
PWaitingThread = chThdSelf();
EnterTX();
chSchGoSleepS(THD_STATE_SUSPENDED);
chSysUnlock(); // Will be here when IRQ fires
}
void cc1101_t::TransmitSync(rPkt_t *pPkt) {
// WaitUntilChannelIsBusy(); // If this is not done, time after time FIFO is destroyed
while(IState != CC_STB_IDLE) EnterIdle();
WriteTX((uint8_t*)pPkt, RPKT_LEN);
EnterTX();
// Waiting for the IRQ to happen
chSysLock();
PWaitingThread = chThdSelf();
chSchGoSleepS(THD_STATE_SUSPENDED);
chSysUnlock(); // Will be here when IRQ will fire
}
// ========================== Implementation ===================================
void CC_t::Task(void) {
// Do with CC what needed
GetState();
switch (State){
case CC_STB_RX_OVF:
FlushRxFIFO();
klPrintf("RX_OVF");
break;
case CC_STB_TX_UNDF:
FlushTxFIFO();
klPrintf("\rTX_OVF");
break;
case CC_STB_IDLE:
//Uart.PrintString("\rIDLE");
//EnterRX();
if (Delay.Elapsed(&Timer, 100)) {
klPrintf("TX\r");
// Prepare packet to send
TX_Pkt.PktID++;
WriteTX();
//CC.EnterTXAndWaitToComplete();
EnterTX();
}
break;
case CC_STB_RX:
//Uart.PrintString("\rRX");
// if (GDO0_IsHi()) GDO0_WasHi = true;
// // Check if GDO0 has fallen
// else if (GDO0_WasHi) {
// //UART_PrintString("\rIRQ\r");
// GDO0_WasHi = false;
// FifoSize = ReadRegister(CC_RXBYTES); // Get number of bytes in FIFO
// if (FifoSize != 0) {
// ReadRX(RX_PktArray, (CC_PKT_LEN+2)); // Read two extra bytes of RSSI & LQI
// EVENT_NewPacket();
// } // if size>0
// } // if falling edge
break;
case CC_STB_TX:
//UART_PrintString("\rTX");
break;
default: // Just get out in other cases
//Uart.PrintString("\rOther: ");
//Uart.PrintUint(CC.State);
break;
}//Switch
}
void CC_t::Task(void) {
// Proceed with state processing
GetState();
switch (State) {
case CC_STB_RX_OVF:
Uart.Printf("RX ovf\r");
FlushRxFIFO();
break;
case CC_STB_TX_UNDF:
Uart.Printf("TX undf\r");
FlushTxFIFO();
break;
case CC_STB_IDLE:
if (SearchState == IsCalling) { // Call alien
WriteTX();
//klPrintf("TX: %u\r", TX_Pkt.To);
EnterTX();
}
else { // Is waiting
if (Delay.Elapsed(&Timer, RX_WAIT_TIME)) SearchState = IsCalling;
else EnterRX();
}
break;
case CC_STB_RX:
if (Delay.Elapsed(&Timer, RX_WAIT_TIME)) {
SearchState = IsCalling;
EnterIdle();
// Note that all was interrogated
if((TX_Pkt.To == MAX_ADDRESS) and (PktCounter == TRY_COUNT-1)) Signal.AllThemCalled = true;
}
break;
default: // Just get out in other cases
//klPrintf("Other: %X\r", State);
break;
} //Switch
}
void* serialTX(void* params){
while(1){
int servo = -1, value = -1;
char buf0[128], buf1[128];
if(oscillating){
int i = 0;
oscTime += 0.016f;
int angle = 10 + (int)(50 * (cos(oscTime) + 1) / 2.0f);
for(i = 4; i--;){
//if(overloaded[i]){
// txState.Angle[i] = 10;
// continue;
//}
txState.Angle[i] = angle;
}
WriteTX(&txState);
usleep(35000);
continue;
}
printf("Servo: "); scanf("%d", &servo);
if(servo > 0 && servo <= SERVOS){
printf("Value: "); scanf("%d", &value);
if(value >= 0 && value <= 180){
// send
txState.Angle[servo - 1] = value;
if(WriteTX(&txState) < 0)
serialport_flush(USB);
}
}
else if(servo == -1){
ServoStates txState = {
{90,90,90,90 ,90,90,90,90}
};
WriteTX(&txState);
}
else if(servo == -2){
ServoStates txState = {
{50,50,50,50 ,50,50,50,50}
};
WriteTX(&txState);
}
else if(servo == -3){
char command[128];
int value;
printf("Value: "); scanf("%d", &value);
{
ServoStates txState = {
{value,value,value,value ,value,value,value,value}
};
WriteTX(&txState);
}
}
else if(servo == -4) oscillating = 1;
}
}