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added arduino, modified build

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mitchellhansen
2020-02-02 15:28:36 -08:00
parent 0189d519c6
commit 6480bc593f
3583 changed files with 1305025 additions and 247 deletions
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205
main.cpp
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@@ -4,136 +4,161 @@
#include <stdarg.h>
#include <util/setbaud.h>
#include <Arduino.h>
#include <lib.h>
#include "SoftPWM.h"
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
//#define CE_PIN 7
#define CE_PIN 3
//#define CS_PIN 8
#define CS_PIN 2
#define LED PORTD2
#define PULL PORTD3
#define ENABLE PORTD5
#define DIRECTION PORTD6
void uart_init() {
// Upper and lower bytes of the calculated prescaler value for baud.
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
// Configure data frame size to 8-bits.
UCSR0C = _BV(UCSZ01) | _BV(UCSZ00);
// Configure to enable transmitter.
UCSR0B = _BV(TXEN0);
}
void uart_putchar(char c) {
// Wait until the register to write to is free.
loop_until_bit_is_set(UCSR0A, UDRE0);
// Write the byte to the register.
UDR0 = c;
}
void uart_putstr(char *data) {
// Loop until end of string writing char by char.
while(*data){
uart_putchar(*data++);
}
}
#define RED 4
#define GREEN 5
#define F_CPU 8000000UL
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
class Motor {
public:
int power;
};
const uint64_t pipes[2] = {0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL};
int radio_number = ROLE;
int role = ROLE;
int main(void) {
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
uart_init();
// pinMode(LED_BUILTIN, OUTPUT);
// digitalWrite(LED_BUILTIN, LOW);
SoftPWMBegin();
// SoftPWMSetFadeTime(4, 2000, 2000);
// pinMode(15, OUTPUT);
//
// pinMode(16, OUTPUT);
// pinMode(17, OUTPUT);
//
// pinMode(18, OUTPUT);
// pinMode(19, OUTPUT);
RF24 radio(CE_PIN, CS_PIN);
radio.begin();
if(radio_number) {
if (radio_number) {
radio.openWritingPipe(pipes[1]);
radio.openReadingPipe(1,pipes[0]);
radio.openReadingPipe(1, pipes[0]);
} else {
radio.openWritingPipe(pipes[0]);
radio.openReadingPipe(1,pipes[1]);
radio.openReadingPipe(1, pipes[1]);
}
radio.startListening();
int i = 0;
for(;;) {
//SoftPWMSet(16, 255);
//SoftPWMSet(19, 255);
//digitalWrite(18, HIGH);
// SoftPWMSet(18, 255, 1);
// digitalWrite(19, LOW);
// digitalWrite(14, LOW);
// digitalWrite(15, HIGH);
digitalWrite(GREEN, HIGH);
_delay_ms(200);
digitalWrite(GREEN, LOW);
int accum = 20;
int i = 5;
for (;;) {
unsigned long start_time = micros();
// ping
if (role == 1) {
radio.stopListening();
// uart_putstr("Now sending\n");
// digitalWrite(LED_BUILTIN, HIGH);
// _delay_ms(100);
// digitalWrite(LED_BUILTIN, LOW);
if (!radio.write( &start_time, sizeof(unsigned long))) {
// uart_putstr("failed\n");
if (accum > 230) {
i = -5; accum = 230;
} else if (accum < 100) {
i = 5; accum = 100;
}
radio.startListening();
unsigned long started_waiting_at = micros();
boolean timeout = false;
while (!radio.available()) {
if (micros() - started_waiting_at > 20000) {
timeout = true;
break;
}
}
if (timeout) {
// uart_putstr("Failed, reponse timed out\n");
} else {
unsigned long got_time;
radio.read( & got_time, sizeof(unsigned long));
unsigned long end_time = micros();
// uart_putstr("Got response\n");
}
delay(500);
}
accum += i;
// SoftPWMSet(14, accum);
// SoftPWMSet(19, accum);
_delay_ms(100);
//
//// digitalWrite(GREEN, HIGH);
//// _delay_ms(200);
//// digitalWrite(GREEN, LOW);
// radio.stopListening();
//
//
// if (!radio.write(&start_time, sizeof(unsigned long))) {
//// digitalWrite(RED, HIGH);
//// _delay_ms(1000);
//// digitalWrite(RED, LOW);
// radio.startListening();
// continue;
// }
//
// radio.startListening();
// unsigned long started_waiting_at = micros();
// boolean timeout = false;
//
// _delay_ms(390);
// if (!radio.available()) {
// timeout = true;
// }
//// while (!radio.available()) {
//// if (micros() - started_waiting_at > 20) {
//// timeout = true;
//// break;
//// }
//// }
// if (timeout) {
//
//// digitalWrite(RED, HIGH);
//// _delay_ms(200);
//// digitalWrite(RED, LOW);
//
// } else {
// unsigned long got_time;
// radio.read(&got_time, sizeof(unsigned long));
// unsigned long end_time = micros();
//
//// digitalWrite(GREEN, HIGH);
//// _delay_ms(200);
//// digitalWrite(GREEN, LOW);
// }
//_delay_ms(500);
}
// ping bag
if (role == 0) {
_delay_ms(100);
unsigned long got_time;
if (radio.available()) {
while (radio.available()) {
radio.read( &got_time, sizeof(unsigned long));
radio.read(&got_time, sizeof(unsigned long));
}
radio.stopListening();
radio.write( & got_time, sizeof(unsigned long));
radio.write(&got_time, sizeof(unsigned long));
radio.startListening();
// uart_putstr("Sent\n");
digitalWrite(LED_BUILTIN, HIGH);
_delay_ms(100);
digitalWrite(LED_BUILTIN, LOW);
}
}
}
}
}