int main(void) {
// LCD Screen
lcd_init();
terminal_init();
// Input
input_init();
// Set power LED
DDRB |= (1 << PINB6);
clear_bit(PORTB, PINB6);
// Radio
uint8_t local_addr[] = { 0x1B, 0x1B, 0x1B, 0x1B, 0x1B };
uint8_t robot_addr[] = { 0x0A, 0x0A, 0x0A, 0x0A, 0x0A };
spi_init();
nrf24_init();
nrf24_config(47, sizeof(RemoteCommand)); // Channel 7
nrf24_set_rx_addr(local_addr);
nrf24_set_tx_addr(robot_addr);
// Ready to go!
sei();
RemoteMode mode = MODE_MANUAL;
while (1)
{
input_update(&input_state);
switch (mode) {
case MODE_MANUAL:
UpdateManualMode(&input_state);
break;
case MODE_AUTO:
asm("nop"::);
break;
case MODE_MENU:
asm("nop"::);
break;
}
}
}
void setup(void) {
uint8_t s = SREG;
uint8_t m = MCUCR;
uint8_t i, addrs[6];
wdt_disable();
serial_init();
timer_init();
spi_init();
nrf24_init();
sei();
/*
* Set our radio address and the remote end's radio address, read
* the addresses from EEPROM where they need to be saved first.
*/
for (i = 0; i < 6; i ++)
addrs[i] = eeprom_read(i);
nrf24_set_rx_addr(addrs + 0);
nrf24_set_tx_addr(addrs + 3);
/* Write something to say hello */
serial_write_str("SREG:");
serial_write_hex16(s);
serial_write_str(", MCUCR:");
serial_write_hex16(m);
serial_write_str(", our addr: ");
serial_write1(addrs[0]);
serial_write1(addrs[1]);
serial_write1(addrs[2]);
serial_write_eol();
nrf24_rx_mode();
serial_set_handler(handle_input);
}
static void update_rx_addr(uint8_t addr) {
uint8_t addr3[3] = { addr + 21, addr + 22, addr + 23 };
nrf24_set_rx_addr(addr3);
}