--- /dev/null
+/****************************************************************************
+ * cape_rccar/main.c
+ *
+ * Micro-controller support for the RC-Car Cape for BeagleBone Black
+ *
+ * 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/i2c.h"
+#include "drivers/adc.h"
+#include "drivers/timers.h"
+#include "extdrv/cc1101.h"
+#include "extdrv/status_led.h"
+#include "extdrv/tmp101_temp_sensor.h"
+#include "extdrv/ws2812.h"
+#include "lib/protocols/dtplug/slave.h"
+
+
+#define MODULE_VERSION 0x02
+#define MODULE_NAME "Cape RC-Car"
+
+
+#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 UART_DEBUG UART0
+#define BUFF_LEN 60
+
+#define SELECTED_FREQ FREQ_SEL_48MHz
+
+#define LPC_TIMER_PIN_CONFIG (LPC_IO_MODE_PULL_UP | LPC_IO_DIGITAL | LPC_IO_DRIVE_HIGHCURENT)
+
+/***************************************************************************** */
+/* 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 },
+ /* UART 1 */
+ { LPC_UART1_RX_PIO_0_8, LPC_IO_DIGITAL },
+ { LPC_UART1_TX_PIO_0_9, LPC_IO_DIGITAL },
+ /* I2C 0 */
+ { LPC_I2C0_SCL_PIO_0_10, (LPC_IO_DIGITAL | LPC_IO_OPEN_DRAIN_ENABLE) },
+ { LPC_I2C0_SDA_PIO_0_11, (LPC_IO_DIGITAL | LPC_IO_OPEN_DRAIN_ENABLE) },
+ /* 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 },
+ /* TIMER_32B0 - PWM */
+ { LPC_TIMER_32B0_M0_PIO_0_18, LPC_TIMER_PIN_CONFIG },
+ { LPC_TIMER_32B0_M1_PIO_0_19, LPC_TIMER_PIN_CONFIG },
+ { LPC_TIMER_32B0_M2_PIO_0_20, LPC_TIMER_PIN_CONFIG },
+ /* TIMER_32B1 - PWM */
+ { LPC_TIMER_32B1_M0_PIO_0_23, LPC_TIMER_PIN_CONFIG },
+ { LPC_TIMER_32B1_M1_PIO_0_24, LPC_TIMER_PIN_CONFIG },
+ { LPC_TIMER_32B1_M2_PIO_0_25, LPC_TIMER_PIN_CONFIG },
+ /* 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 },
+ /* GPIO */
+ { LPC_GPIO_0_3, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_4, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_5, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_6, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_7, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_21, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_22, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_26, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_27, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_28, LPC_IO_DIGITAL},
+ { LPC_GPIO_0_29, LPC_IO_DIGITAL},
+ ARRAY_LAST_PIO,
+};
+
+/* RF - CC1101 */
+const struct pio cc1101_cs_pin = LPC_GPIO_0_6;
+const struct pio cc1101_miso_pin = LPC_SSP0_MISO_PIO_0_16;
+const struct pio cc1101_gdo0 = LPC_GPIO_0_7;
+/* 9D - LSM9DSO sensor */
+const struct pio lsm9d_cs_pin = LPC_GPIO_0_5;
+
+/* On-board I2C temperature sensor */
+#define TMP101_ADDR 0x94
+struct tmp101_sensor_config tmp101_sensor = {
+ .addr = TMP101_ADDR,
+ .resolution = TMP_RES_ELEVEN_BITS,
+};
+
+/* Servomotor functions definition by servo numbers */
+#define DIRECTION_CTRL_SERVO 0
+#define DIRECTION_CTRL_SERVO_MIN 60
+#define DIRECTION_CTRL_SERVO_MAX 120
+#define SPEED_CTRL_SERVO 1
+#define SPEED_CTRL_SERVO_MIN 30
+#define SPEED_CTRL_SERVO_MAX 160
+
+/* Lights - WS2812B Leds strip */
+const struct pio leds = LPC_GPIO_0_3;
+
+/* External movement detector */
+const struct pio ext_move_pin = LPC_GPIO_0_4;
+
+/* Ultrasound sensors */
+#define NUM_PULSE_SENSORS 6
+const struct pio us_pulse_sensors[NUM_PULSE_SENSORS] = {
+ LPC_GPIO_0_21, LPC_GPIO_0_22, LPC_GPIO_0_26,
+ LPC_GPIO_0_27, LPC_GPIO_0_28, LPC_GPIO_0_29,
+};
+
+/* Status Led */
+const struct pio status_led_green = LPC_GPIO_1_4;
+const struct pio status_led_red = LPC_GPIO_1_5;
+
+
+#define ADC_SMOKE LPC_ADC_NUM(0)
+#define ADC_VBAT1 LPC_ADC_NUM(1)
+#define ADC_VBAT2 LPC_ADC_NUM(2)
+
+/***************************************************************************** */
+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(UART1, name, len);
+ /* Wait for end of Tx */
+ serial_flush(UART1);
+ /* FIXME : Perform soft reset of the micro-controller ! */
+ while (1);
+}
+
+
+
+/***************************************************************************** */
+/* Temperature */
+/* The I2C Temperature sensor is at address 0x94 */
+void temp_config(int uart_num)
+{
+ int ret = 0;
+ ret = tmp101_sensor_config(&tmp101_sensor);
+#ifdef DEBUG
+ if (ret != 0) {
+ uprintf(uart_num, "Temp config error\n");
+ }
+#endif
+}
+
+
+/******************************************************************************/
+/* Servo-motors */
+static uint32_t servo_med_pos_cmd = 0;
+static uint32_t servo_one_deg_step = 0;
+int servo_config(uint8_t uart_num)
+{
+ uint32_t servo_command_period = 0;
+ struct timer_config timer_conf = {
+ .mode = LPC_TIMER_MODE_PWM,
+ .config = { 0, 3, 0, 0 }, /* Use channel 3 for control */
+ };
+
+ /* compute the period and median position for the servo command */
+ /* We want 20ms (50Hz), timer counts at main clock frequency */
+ servo_command_period = get_main_clock() / 50;
+ /* servo_command_period is 20ms, we need 1.5ms, which is 3/40. */
+ servo_med_pos_cmd = ((servo_command_period / 40) * 3);
+ servo_one_deg_step = ((servo_command_period / 41) / 48);
+
+ timer_conf.match[0] = servo_med_pos_cmd;
+ timer_conf.match[1] = servo_med_pos_cmd;
+ timer_conf.match[2] = servo_med_pos_cmd;
+ timer_conf.match[3] = servo_command_period;
+ timer_conf.config[0] = (LPC_PWM_CHANNEL_ENABLE(0) | LPC_PWM_CHANNEL_ENABLE(1) | LPC_PWM_CHANNEL_ENABLE(2));
+
+ timer_on(LPC_TIMER_32B0, 0, NULL);
+ timer_setup(LPC_TIMER_32B0, &timer_conf);
+ timer_start(LPC_TIMER_32B0);
+
+ timer_on(LPC_TIMER_32B1, 0, NULL);
+ timer_setup(LPC_TIMER_32B1, &timer_conf);
+ timer_start(LPC_TIMER_32B1);
+
+#ifdef DEBUG
+ uprintf(uart_num, "Servos configured, Period : %d, med_pos : %d\n",
+ servo_command_period, servo_med_pos_cmd);
+#endif
+ return 0;
+}
+
+int set_servo(int uart_num, int servo_num, int angle)
+{
+ uint32_t pos = servo_med_pos_cmd;
+ int timer = (servo_num < 3) ? LPC_TIMER_32B0 : LPC_TIMER_32B1;
+ int channel = (servo_num % 3);
+
+ if (angle > 180) {
+ angle = 180;
+ }
+
+ /* And compute the new match value for the angle */
+ if (angle >= 90) {
+ pos += ((angle - 90) * servo_one_deg_step);
+ } else {
+ pos -= ((90 - angle) * servo_one_deg_step);
+ }
+ timer_set_match(timer, channel, pos);
+#ifdef DEBUG
+ uprintf(uart_num, "Servo(%d - %d.%d): %d (%d)\n", servo_num, timer, channel, angle, pos);
+#endif
+ return pos;
+}
+
+
+/******************************************************************************/
+/* Ultrasonic distance sensors */
+
+/* Delay between measures should be at least 50ms */
+#define PULSE_DELAY 50
+enum pulse_states {
+ PULSE_STATE_NONE = 0,
+ PULSE_STATE_MUST_TRIGGER,
+ PULSE_STATE_TRIG_DELAY,
+ PULSE_STATE_TRIG_START,
+ PULSE_STATE_TRIG_DONE,
+ PULSE_STATE_PULSE_START,
+ PULSE_STATE_PULSE_END,
+};
+
+/* Note that clock cycles counter wraps every 89 seconds with system clock running at 48 MHz */
+static volatile uint32_t pulse_start[NUM_PULSE_SENSORS]; /* Clock cycles counter upon echo start */
+static volatile uint32_t pulse_duration[NUM_PULSE_SENSORS];
+static volatile uint8_t pulse_state[6] = {0};
+void pulse_feedback(uint32_t gpio)
+{
+ int sensor_num = 0;
+ uint32_t now = systick_get_clock_cycles();
+ /* Find sensor number */
+ do {
+ if (us_pulse_sensors[sensor_num].pin == gpio) {
+ break;
+ }
+ } while (++sensor_num < NUM_PULSE_SENSORS);
+ if (sensor_num >= NUM_PULSE_SENSORS) {
+ return;
+ }
+
+ if (pulse_state[sensor_num] == PULSE_STATE_TRIG_DONE) {
+ pulse_start[sensor_num] = now;
+ pulse_state[sensor_num] = PULSE_STATE_PULSE_START;
+ } else if (pulse_state[sensor_num] == PULSE_STATE_PULSE_START) {
+ if (now > pulse_start[sensor_num]) {
+ pulse_duration[sensor_num] = (now - pulse_start[sensor_num]);
+ } else {
+ pulse_duration[sensor_num] = (0xFFFFFFFF - pulse_start[sensor_num]);
+ pulse_duration[sensor_num] += now;
+ }
+ pulse_state[sensor_num] = PULSE_STATE_PULSE_END;
+ /* Remove GPIO interrupt, we got what we wanted, do not trig interrupt on
+ * sensor trigger pulse. */
+ remove_gpio_callback(&us_pulse_sensors[sensor_num]);
+ }
+}
+
+void ultrasound_sensors_trig_timer_int(uint32_t flags)
+{
+ int i = 0;
+ for (i = 0; i < NUM_PULSE_SENSORS; i++) {
+ switch (pulse_state[i]) {
+ case PULSE_STATE_TRIG_DELAY:
+ gpio_set(us_pulse_sensors[i]);
+ pulse_state[i] = PULSE_STATE_TRIG_START;
+ /* And restart timer for the high state */
+ timer_restart(LPC_TIMER_16B0);
+ break;
+ case PULSE_STATE_TRIG_START:
+ gpio_clear(us_pulse_sensors[i]);
+ gpio_dir_in(us_pulse_sensors[i]);
+ pulse_state[i] = PULSE_STATE_TRIG_DONE;
+ /* Re-activate GPIO interrupt */
+ set_gpio_callback(pulse_feedback, &(us_pulse_sensors[i]), EDGES_BOTH);
+ break;
+ }
+ }
+}
+
+/* Initiate distance mesurement */
+void pulse_trig(int sensor_num)
+{
+ /* Set pin as output and clear for 10us at least */
+ gpio_dir_out(us_pulse_sensors[sensor_num]);
+ gpio_clear(us_pulse_sensors[sensor_num]);
+ pulse_state[sensor_num] = PULSE_STATE_TRIG_DELAY;
+ /* Start or restart timer to generate event.
+ * If timer was already started, it will restart timer thus we get a delay of 10 to 60us
+ * depending on how many times this function is called and when.
+ */
+ timer_restart(LPC_TIMER_16B0);
+}
+
+static volatile uint16_t distances[NUM_PULSE_SENSORS] = {0};
+uint32_t div = 0;
+void ultrasound_sensors_update(uint32_t tick)
+{
+ static int i = 0;
+ uint32_t distance_tmp = 0;
+
+ if (pulse_state[i] == PULSE_STATE_PULSE_END) {
+ /* Convert pulse width in us to distance in mm */
+ distance_tmp = (((pulse_duration[i] * 10) / div) / 29);
+ distances[i] = (uint16_t)byte_swap_16((uint16_t)distance_tmp);
+ pulse_state[i] = PULSE_STATE_MUST_TRIGGER;
+ }
+ /* Always trigger a new round, this prevents being stuck somewhere */
+ pulse_trig(i);
+
+ /* Next time we will trigger the next sensor */
+ i = ((i + 1) % NUM_PULSE_SENSORS);
+}
+
+int ultrasound_sensors_config(int uart_num)
+{
+ struct timer_config timer_conf = {
+ .mode = LPC_TIMER_MODE_MATCH,
+ .config = { LPC_TIMER_INT_RESET_AND_STOP_ON_MATCH, 0, 0, 0, },
+ .ext_match_config = { 0, 0, 0, 0, },
+ .match = { 0, 0, 0, 0, },
+ };
+ uint32_t match = get_main_clock() / (50 * 1000); /* 10 us */
+
+ /* Set divisor only once : main clock must not be changed. */
+ div = (get_main_clock() / (1000*1000));
+
+ /* Add a callback to trigger the range measurement every 50 to 100 ms */
+ add_systick_callback(ultrasound_sensors_update, 40);
+
+ timer_conf.match[0] = match;
+ timer_on(LPC_TIMER_16B0, 0, ultrasound_sensors_trig_timer_int);
+ timer_setup(LPC_TIMER_16B0, &timer_conf);
+
+#ifdef DEBUG
+ uprintf(uart_num, "Ultrasound distance sensors configured.\n");
+#endif
+ return 0;
+}
+
+
+/******************************************************************************/
+/* RF Communication */
+#define RF_BUFF_LEN 64
+
+static volatile uint32_t cc_tx = 0;
+static volatile uint8_t cc_tx_buff[RF_BUFF_LEN];
+static volatile uint8_t cc_ptr = 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 */
+};
+
+/* 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
+ uprintf(UART_DEBUG, "CC1101 RF link init done.\n");
+#endif
+}
+
+void handle_rf_rx_data(void)
+{
+ 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
+ uprintf(UART_DEBUG, "RF: ret:%d, st: %d.\n", ret, status);
+#endif
+}
+
+void send_on_rf(void)
+{
+ uint8_t cc_tx_data[RF_BUFF_LEN + 2];
+ uint8_t tx_len = cc_ptr;
+ int ret = 0;
+
+ /* Create a local copy */
+ memcpy((char*)&(cc_tx_data[2]), (char*)cc_tx_buff, tx_len);
+ /* "Free" the rx buffer as soon as possible */
+ cc_ptr = 0;
+ /* Prepare buffer for sending */
+ cc_tx_data[0] = tx_len + 1;
+ cc_tx_data[1] = 0; /* Broadcast */
+ /* Send */
+ if (cc1101_tx_fifo_state() != 0) {
+ cc1101_flush_tx_fifo();
+ }
+ ret = cc1101_send_packet(cc_tx_data, (tx_len + 2));
+
+#ifdef DEBUG
+ /* Give some feedback on UART 0 */
+ uprintf(UART_DEBUG, "Tx ret: %d\n", ret);
+#endif
+}
+
+
+
+/******************************************************************************/
+/* Serial Communication */
+
+static struct dtplug_protocol_handle uart_handle;
+
+void quickdata_to_packet(struct packet* pkt)
+{
+ struct header* head = &(pkt->info);
+ if (head->seq_num & QUICK_DATA_PACKET) {
+ pkt->data[0] = head->quick_data[0];
+ pkt->data[1] = head->quick_data[1];
+ if (head->seq_num & QUICK_DATA_PACKET_ONE_BYTE) {
+ head->data.size = 1;
+ } else {
+ head->data.size = 2;
+ }
+ }
+}
+
+
+#define PKT_TYPE_GET_DISTANCES (PKT_TYPE_LAST + 40)
+#define PKT_TYPE_GET_SMOKE (PKT_TYPE_LAST + 41)
+#define PKT_TYPE_GET_BATTERY (PKT_TYPE_LAST + 42)
+#define PKT_TYPE_GET_IR (PKT_TYPE_LAST + 43)
+
+#define PKT_TYPE_SET_SPEED (PKT_TYPE_LAST + 50)
+#define PKT_TYPE_SET_DIRECTION (PKT_TYPE_LAST + 51)
+
+int board_temp = 0;
+uint16_t adc_smoke = 0;
+
+void handle_commands(struct packet* command)
+{
+ struct header* head = &(command->info);
+ uint8_t* data = command->data;
+ uint16_t value = 0;
+ int i = 0;
+ /* Transform quick data packets to standard packets */
+ quickdata_to_packet(command);
+
+ /* And handle commands */
+ switch (head->type) {
+ case PKT_TYPE_GET_TEMPERATURE:
+ value = (int16_t)board_temp;
+ value = (uint16_t)byte_swap_16(value);
+ dtplug_protocol_send_reply(&uart_handle, command, NO_ERROR, 2, (uint8_t*)(&value));
+ break;
+ case PKT_TYPE_GET_ADC_VALUE:
+ break;
+ case PKT_TYPE_GET_SMOKE:
+ value = (uint16_t)byte_swap_16(adc_smoke);
+ dtplug_protocol_send_reply(&uart_handle, command, NO_ERROR, 2, (uint8_t*)(&value));
+ break;
+ case PKT_TYPE_GET_DISTANCES:
+ dtplug_protocol_send_reply(&uart_handle, command, NO_ERROR, (2 * NUM_PULSE_SENSORS), (uint8_t*)(&distances));
+ break;
+ case PKT_TYPE_SET_RGB_LED:
+ for (i = 0; i < head->data.size; i += 4) {
+ ws2812_set_pixel(data[i], data[i + 1], data[i + 2], data[i + 3]);
+ uprintf(UART_DEBUG, "Set led %d to {%d, %d, %d}.\n", data[i], data[i + 1], data[i + 2], data[i + 3]);
+ }
+ uprintf(UART_DEBUG, "Set %d leds.\n", (i / 4));
+ break;
+ case PKT_TYPE_CLEAR_LEDS:
+ uprintf(UART_DEBUG, "All leds cleared.\n");
+ ws2812_clear();
+ break;
+ case PKT_TYPE_SET_DIRECTION:
+ if (data[0] > DIRECTION_CTRL_SERVO_MAX) {
+ data[0] = DIRECTION_CTRL_SERVO_MAX;
+ }
+ if (data[0] < DIRECTION_CTRL_SERVO_MIN) {
+ data[0] = DIRECTION_CTRL_SERVO_MIN;
+ }
+ set_servo(UART_DEBUG, DIRECTION_CTRL_SERVO, data[0]);
+ uprintf(UART_DEBUG, "Set direction to %d.\n", data[0]);
+ break;
+ case PKT_TYPE_SET_SPEED:
+ if (data[0] > SPEED_CTRL_SERVO_MAX) {
+ data[0] = SPEED_CTRL_SERVO_MAX;
+ }
+ if (data[0] < SPEED_CTRL_SERVO_MIN) {
+ data[0] = SPEED_CTRL_SERVO_MIN;
+ }
+ set_servo(UART_DEBUG, SPEED_CTRL_SERVO, data[0]);
+ uprintf(UART_DEBUG, "Set speed to %d.\n", data[0]);
+ break;
+ case PKT_TYPE_SET_PWM_CHAN:
+ set_servo(UART_DEBUG, 2, (distances[2] / 10));
+ break;
+ default:
+ /* FIXME : dtplug_protocol_common_handles(&uart_handle, command); */
+ uprintf(UART_DEBUG, "Unknown packet type (%d): packet not handled\n", head->type);
+ dtplug_protocol_send_reply(&uart_handle, command, ERROR_PKT_NOT_HANDLED, 0, NULL);
+ status_led(red_on);
+ break;
+ }
+ dtplug_protocol_release_old_packet(&uart_handle);
+}
+
+void dtplug_protocol_send_info(struct dtplug_protocol_handle* handle, uint8_t type, int len, uint8_t* data)
+{
+ struct packet sensors = {
+ .info = {
+ .start = FIRST_PACKET_CHAR,
+ .type = type,
+ .seq_num = PACKET_NEEDS_REPLY, /* Packet sequence number of 0 for unrequested packets */
+ },
+ };
+
+ dtplug_protocol_send_reply(handle, &sensors, NO_ERROR, len, data);
+}
+
+/***************************************************************************** */
+int main(void)
+{
+ system_init();
+
+ dtplug_protocol_set_dtplug_comm_uart(UART0, &uart_handle);
+ uart_on(UART1, 115200, NULL);
+
+ ssp_master_on(0, LPC_SSP_FRAME_SPI, 8, 4*1000*1000); /* bus_num, frame_type, data_width, rate */
+ i2c_on(I2C_CLK_100KHz);
+ adc_on();
+ status_led_config(&status_led_green, &status_led_red);
+
+ /* Radio */
+ rf_config();
+
+ /* Temperature sensor */
+ temp_config(UART_DEBUG);
+
+ /* Ultrasonic distance sensors */
+ ultrasound_sensors_config(UART_DEBUG);
+
+ /* Servo motors */
+ msleep(2000);
+ servo_config(UART_DEBUG);
+
+ /* Config Leds for lights */
+ ws2812_config(&leds);
+
+ while (1) {
+ struct packet* pkt = NULL;
+ uint8_t status = 0;
+
+ /* Request a Temp conversion on I2C TMP101 temperature sensor */
+ tmp101_sensor_start_conversion(&tmp101_sensor); /* A conversion takes about 40ms */
+ /* Start ADC conversions to get voltages */
+ adc_start_convertion_once(ADC_SMOKE, 0);
+
+ /* Tell we are alive :) */
+ chenillard(250);
+
+ /* Read the temperature */
+ if (tmp101_sensor_read(&tmp101_sensor, NULL, &board_temp) != 0) {
+ uprintf(UART_DEBUG, "Temp read error\n");
+ } else {
+ uprintf(UART_DEBUG, "Temp read: %d,%d.\n", (board_temp / 10), (board_temp % 10));
+ }
+
+ /* Get and display the smoke detector voltage */
+ if (adc_get_value(&adc_smoke, ADC_SMOKE) >= 0) {
+ int milli_volts = ((adc_smoke * 32) / 5);
+ adc_smoke = (uint16_t)milli_volts;
+ uprintf(UART_DEBUG , "Vsmoke: %d\n", adc_smoke);
+ }
+
+ uprintf(UART_DEBUG, "D: %d - %d - %d - %d - %d - %d\n",
+ byte_swap_16(distances[0]), byte_swap_16(distances[1]), byte_swap_16(distances[2]),
+ byte_swap_16(distances[3]), byte_swap_16(distances[4]), byte_swap_16(distances[5]));
+
+ /* Handle commands */
+ pkt = dtplug_protocol_get_next_packet_ok(&uart_handle);
+ if (pkt != NULL) {
+ handle_commands(pkt);
+ }
+
+ /* Send leds frame if leds changed */
+ ws2812_send_frame(0);
+
+ /* RF */
+ if (cc_tx == 1) {
+ send_on_rf();
+ cc_tx = 0;
+ }
+ /* 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) {
+ if (cc1101_rx_fifo_state() != 0) {
+ cc1101_flush_rx_fifo();
+ }
+ cc1101_enter_rx_mode();
+ }
+ if (check_rx == 1) {
+ check_rx = 0;
+ handle_rf_rx_data();
+ }
+ }
+ return 0;
+}
+
+
+
+
