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140 lines
3.3 KiB
140 lines
3.3 KiB
#include <util/delay.h>
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#include <avr/io.h>
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#include <stdio.h>
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#include <stdarg.h>
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#include <util/setbaud.h>
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#include <Arduino.h>
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#include <SPI.h>
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#include <nRF24L01.h>
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#include <RF24.h>
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//#define CE_PIN 7
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#define CE_PIN 3
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//#define CS_PIN 8
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#define CS_PIN 2
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#define LED PORTD2
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#define PULL PORTD3
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#define ENABLE PORTD5
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#define DIRECTION PORTD6
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void uart_init() {
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// Upper and lower bytes of the calculated prescaler value for baud.
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UBRR0H = UBRRH_VALUE;
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UBRR0L = UBRRL_VALUE;
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// Configure data frame size to 8-bits.
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UCSR0C = _BV(UCSZ01) | _BV(UCSZ00);
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// Configure to enable transmitter.
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UCSR0B = _BV(TXEN0);
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}
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void uart_putchar(char c) {
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// Wait until the register to write to is free.
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loop_until_bit_is_set(UCSR0A, UDRE0);
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// Write the byte to the register.
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UDR0 = c;
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}
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void uart_putstr(char *data) {
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// Loop until end of string writing char by char.
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while(*data){
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uart_putchar(*data++);
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}
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}
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const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
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int radio_number = ROLE;
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int role = ROLE;
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int main(void) {
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uart_init();
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// pinMode(LED_BUILTIN, OUTPUT);
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// digitalWrite(LED_BUILTIN, LOW);
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RF24 radio(CE_PIN, CS_PIN);
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radio.begin();
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if(radio_number) {
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radio.openWritingPipe(pipes[1]);
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radio.openReadingPipe(1,pipes[0]);
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} else {
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radio.openWritingPipe(pipes[0]);
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radio.openReadingPipe(1,pipes[1]);
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}
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radio.startListening();
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int i = 0;
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for(;;) {
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unsigned long start_time = micros();
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// ping
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if (role == 1) {
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radio.stopListening();
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// uart_putstr("Now sending\n");
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// digitalWrite(LED_BUILTIN, HIGH);
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// _delay_ms(100);
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// digitalWrite(LED_BUILTIN, LOW);
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if (!radio.write( &start_time, sizeof(unsigned long))) {
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// uart_putstr("failed\n");
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}
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radio.startListening();
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unsigned long started_waiting_at = micros();
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boolean timeout = false;
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while (!radio.available()) {
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if (micros() - started_waiting_at > 20000) {
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timeout = true;
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break;
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}
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}
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if (timeout) {
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// uart_putstr("Failed, reponse timed out\n");
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} else {
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unsigned long got_time;
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radio.read( & got_time, sizeof(unsigned long));
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unsigned long end_time = micros();
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// uart_putstr("Got response\n");
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}
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delay(500);
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}
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// ping bag
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if (role == 0) {
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unsigned long got_time;
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if (radio.available()) {
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while (radio.available()) {
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radio.read( &got_time, sizeof(unsigned long));
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}
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radio.stopListening();
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radio.write( & got_time, sizeof(unsigned long));
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radio.startListening();
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// uart_putstr("Sent\n");
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digitalWrite(LED_BUILTIN, HIGH);
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_delay_ms(100);
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digitalWrite(LED_BUILTIN, LOW);
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}
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}
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}
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}
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