--- /dev/null
+/****************************************************************************
+ * rccar_remote_controller/main.c
+ *
+ * Remote controller using sub1G_module
+ *
+ * Copyright 2016 Nathael Pajani <nathael.pajani@ed3l.fr>
+ *
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *************************************************************************** */
+
+
+#include <stdint.h>
+#include "core/lpc_regs_12xx.h"
+#include "core/lpc_core_cm0.h"
+#include "core/pio.h"
+#include "core/system.h"
+#include "core/systick.h"
+#include "lib/stdio.h"
+#include "drivers/serial.h"
+#include "drivers/gpio.h"
+#include "drivers/ssp.h"
+#include "drivers/adc.h"
+#include "drivers/timers.h"
+#include "extdrv/cc1101.h"
+#include "extdrv/status_led.h"
+
+
+#define MODULE_VERSION 0x02
+#define MODULE_NAME "RF Sub1G"
+
+
+#define RF_868MHz 1
+#define RF_915MHz 0
+#if ((RF_868MHz) + (RF_915MHz) != 1)
+#error Either RF_868MHz or RF_915MHz MUST be defined.
+#endif
+
+
+#define DEBUG 1
+#define BUFF_LEN 60
+
+#define SELECTED_FREQ FREQ_SEL_48MHz
+
+/***************************************************************************** */
+/* Pins configuration */
+/* pins blocks are passed to set_pins() for pins configuration.
+ * Unused pin blocks can be removed safely with the corresponding set_pins() call
+ * All pins blocks may be safelly merged in a single block for single set_pins() call..
+ */
+const struct pio_config common_pins[] = {
+ /* UART 0 */
+ { LPC_UART0_RX_PIO_0_1, LPC_IO_DIGITAL },
+ { LPC_UART0_TX_PIO_0_2, LPC_IO_DIGITAL },
+ /* SPI */
+ { LPC_SSP0_SCLK_PIO_0_14, LPC_IO_DIGITAL },
+ { LPC_SSP0_MOSI_PIO_0_17, LPC_IO_DIGITAL },
+ { LPC_SSP0_MISO_PIO_0_16, LPC_IO_DIGITAL },
+ /* ADC */
+ { LPC_ADC_AD0_PIO_0_30, LPC_IO_ANALOG },
+ { LPC_ADC_AD1_PIO_0_31, LPC_IO_ANALOG },
+ { LPC_ADC_AD2_PIO_1_0, LPC_IO_ANALOG },
+ ARRAY_LAST_PIO,
+};
+
+const struct pio cc1101_cs_pin = LPC_GPIO_0_15;
+const struct pio cc1101_miso_pin = LPC_SSP0_MISO_PIO_0_16;
+const struct pio cc1101_gdo0 = LPC_GPIO_0_6;
+const struct pio cc1101_gdo2 = LPC_GPIO_0_7;
+
+const struct pio status_led_green = LPC_GPIO_0_28;
+const struct pio status_led_red = LPC_GPIO_0_29;
+
+
+#define ADC_VBAT LPC_ADC_NUM(0)
+#define ADC_EXT1 LPC_ADC_NUM(1)
+#define ADC_EXT2 LPC_ADC_NUM(2)
+
+const struct wdt_config wdconf = {
+ .clk_sel = WDT_CLK_IRC,
+ .intr_mode_only = 0,
+ .callback = NULL,
+ .locks = 0,
+ .nb_clk = 0x04FFFF,
+ .wdt_window = 0,
+ .wdt_warn = 0x3FF,
+};
+
+
+/***************************************************************************** */
+void system_init()
+{
+ /* Stop the watchdog */
+ startup_watchdog_disable(); /* Do it right now, before it gets a chance to break in */
+
+ /* Note: Brown-Out detection must be powered to operate the ADC. adc_on() will power
+ * it back on if called after system_init() */
+ system_brown_out_detection_config(0);
+ system_set_default_power_state();
+ clock_config(SELECTED_FREQ);
+ set_pins(common_pins);
+ gpio_on();
+ /* System tick timer MUST be configured and running in order to use the sleeping
+ * functions */
+ systick_timer_on(1); /* 1ms */
+ systick_start();
+}
+
+/* Define our fault handler. This one is not mandatory, the dummy fault handler
+ * will be used when it's not overridden here.
+ * Note : The default one does a simple infinite loop. If the watchdog is deactivated
+ * the system will hang.
+ */
+void fault_info(const char* name, uint32_t len)
+{
+ serial_write(0, name, len);
+ /* Wait for end of Tx */
+ serial_flush(0);
+ /* FIXME : Perform soft reset of the micro-controller ! */
+ while (1);
+}
+
+
+
+/******************************************************************************/
+/* RF Communication */
+#define RF_BUFF_LEN 64
+#define RF_BROADCAST 0
+
+static volatile int check_rx = 0;
+void rf_rx_calback(uint32_t gpio)
+{
+ check_rx = 1;
+}
+
+static uint8_t rf_specific_settings[] = {
+ CC1101_REGS(gdo_config[2]), 0x07, /* GDO_0 - Assert on CRC OK | Disable temp sensor */
+ CC1101_REGS(gdo_config[0]), 0x2E, /* GDO_2 - FIXME : do something usefull with it for tests */
+ CC1101_REGS(pkt_ctrl[0]), 0x0F, /* Accept all sync, CRC err auto flush, Append, Addr check and Bcast */
+ CC1101_REGS(radio_stm[1]), 0x3F, /* CCA mode "if RSSI below threshold", Stay in RX, Go to RX (page 81) */
+ CC1101_REGS(agc_ctrl[1]), 0x20, /* LNA 2 gain decr first, Carrier sense relative threshold set to 10dB increase in RSSI value */
+#if (RF_915MHz == 1)
+ /* FIXME : Add here a define protected list of settings for 915MHz configuration */
+#endif
+};
+
+/* RF config */
+void rf_config(void)
+{
+ config_gpio(&cc1101_gdo0, LPC_IO_MODE_PULL_UP, GPIO_DIR_IN, 0);
+ cc1101_init(0, &cc1101_cs_pin, &cc1101_miso_pin); /* ssp_num, cs_pin, miso_pin */
+ /* Set default config */
+ cc1101_config();
+ /* And change application specific settings */
+ cc1101_update_config(rf_specific_settings, sizeof(rf_specific_settings));
+ set_gpio_callback(rf_rx_calback, &cc1101_gdo0, EDGE_RISING);
+
+#ifdef DEBUG
+ if (1) {
+ char buff[BUFF_LEN];
+ int len = 0;
+ len = snprintf(buff, BUFF_LEN, "CC1101 RF link init done.\r\n");
+ serial_write(0, buff, len);
+ }
+#endif
+}
+
+void send_on_RF(uint8_t addr, uint8_t type, uint8_t val)
+{
+ uint8_t cc_tx_data[8];
+ cc_tx_data[0] = 3;
+ cc_tx_data[1] = addr;
+ cc_tx_data[2] = type;
+ cc_tx_data[3] = val;
+ if (cc1101_tx_fifo_state() != 0) {
+ cc1101_flush_tx_fifo();
+ }
+ cc1101_send_packet(cc_tx_data, 4);
+}
+
+void handle_rf_rx_data(void)
+{
+ char buff[BUFF_LEN];
+ int len = 0;
+ uint8_t data[RF_BUFF_LEN];
+ int8_t ret = 0;
+ uint8_t status = 0;
+
+ /* Check for received packet (and get it if any) */
+ ret = cc1101_receive_packet(data, RF_BUFF_LEN, &status);
+ /* Go back to RX mode */
+ cc1101_enter_rx_mode();
+
+#ifdef DEBUG
+ if (1) {
+ len = snprintf(buff, BUFF_LEN, "RF: ret:%d, st: %d.\r\n", ret, status);
+ serial_write(0, buff, len);
+ }
+#endif
+
+}
+
+
+/***************************************************************************** */
+int main(void) {
+ system_init();
+ uart_on(0, 115200, NULL);
+ ssp_master_on(0, LPC_SSP_FRAME_SPI, 8, 4*1000*1000); /* bus_num, frame_type, data_width, rate */
+ adc_on();
+ status_led_config(&status_led_green, &status_led_red);
+
+ /* Radio */
+ rf_config();
+
+ /* ADC */
+ adc_start_burst_conversion(LPC_ADC_CHANNEL(ADC_EXT1) | LPC_ADC_CHANNEL(ADC_EXT2));
+
+ /* Config done, start watchdog */
+ watchdog_config(&wdconf);
+
+ while (1) {
+ uint8_t status = 0;
+ uint16_t val = 0;
+ uint8_t dir = 0, speed = 0;
+
+ status_led(none);
+ watchdog_feed();
+ /* Get current ADC values and compute new commands */
+ /* First axis : Direction */
+ adc_get_value(&val, ADC_EXT1);
+ dir = (val / 17) + 59; /* This gives a 90 as middle position, with a value between 60 and 120 */
+ send_on_RF(0, 'D', dir);
+#if 0
+ uprintf(UART0, "Direction : %d\n", dir);
+#endif
+ status_led(green_on);
+ msleep(10);
+
+ adc_get_value(&val, ADC_EXT2);
+ speed = ((1024 - val) / 12) + 50; /* About same result, inverting axis to match joystick output */
+ send_on_RF(0, 'S', speed);
+#if 0
+ uprintf(UART0, "Speed : %d\n", speed);
+#endif
+ status_led(red_on);
+ msleep(10);
+
+ /* RF */
+ /* Do not leave radio in an unknown or unwated state */
+ do {
+ status = (cc1101_read_status() & CC1101_STATE_MASK);
+ } while (status == CC1101_STATE_TX);
+
+ if (status != CC1101_STATE_RX) {
+ static uint8_t loop = 0;
+ loop++;
+ if (loop > 10) {
+ if (cc1101_rx_fifo_state() != 0) {
+ cc1101_flush_rx_fifo();
+ }
+ cc1101_enter_rx_mode();
+ loop = 0;
+ }
+ }
+ if (check_rx == 1) {
+ check_rx = 0;
+ handle_rf_rx_data();
+ }
+ }
+ return 0;
+}
+
+
+
+
