main.c

基于CC1100和ATMEGA128开发的无线机器人控制程序

/*******************************************************************************************************
 * Compiler:                WINAVR                                                             *
 * Target platform:         Chipcon CCxxx0 (any ATMEGA MCU)                                               *
 * Author:                  WangChaoyan IBSS of NUAA                                                                      *
 *******************************************************************************************************
 * Revision history: 2007-03-02                                                                *
 ******************************************************************************************************/



#define __MAIN__

#include "include.h"
#include "RegSettings_Link.h"

#include "halsrf04.h"

/**********************************************************
					DEFINES
**********************************************************/

void intToAscii(UINT32 value);

RF_SETTINGS rfSettings;

BYTE paTable[1];

BYTE rxBuffer[64];

BYTE BrBwTable[9][9];

BYTE asciiString[11];
void  write(unsigned char *str)
{ 
	while (*str != 0) 
	{ 
		UART0_WAIT_AND_SEND(*str++); 
	} 
} 

void writeln(unsigned char *str) 
{ 
	write(str); 
	write("\n\r"); 
} 


void sysInit(void);

int main(void)
{   UINT32 i;
	UINT32 packetsReceived = 0;
	UINT8 *length;
	BOOL flag;
    for (i=0;i<100;i++) halWait(200);	
	//系统初始化
	sysInit();	
	//一些提示信息
	writeln("Welcome to IBSS");	
	writeln("This is written by Wang Chaoyan");
	writeln("This is a Simple Demo RX  for CCxx00...");
	// Reset CCxx00 and write rf setting to config registers
	// CC1100芯片上电复位
	writeln("wait for Reset CCxxx0!!!!");
    POWER_UP_RESET_CCxxx0();
	writeln("Reset Cxxx0 oK!!"); 
	//寄存器设置
	halRfWriteRfSettings(&rfSettings);
	writeln("Config resister oK!!"); 
    //发射功率设定
    halSpiWriteBurstReg(CCxxx0_PATABLE, paTable, sizeof(paTable));
	writeln("Config paTable OK!!!"); 
	//提示信息
	writeln("Now Enjoying the show!!!");	
	while(1)
	{
		
	   //初始化接收的数据包长度
		length = sizeof(rxBuffer);
		//若收到显示接收结果
		flag=halRfReceivePacket(rxBuffer, length);		
		if (flag)
        {					
		  SET_LED_RDY();
          intToAscii(++packetsReceived);
          write("Received: ");
          write(asciiString);
          write("  -  "); 
          writeln(rxBuffer);
		  CLR_LED_RDY();
		     
        }
		
		
    }
	
	
}
void sysInit(void)
{
	unsigned char i;
	//口初始化
	PORT_INIT();
	//SPI 初始化
	SPI_INIT ();
	
	//等待一下,晶振稳定
	for (i=0;i<5;i++) halWait(200);
	//初始化串口为: 9600,8N1
	INIT_UART0 ( UART_BAUDRATE_9K6, (
				UART_OPT_8_BITS_PER_CHAR |
				UART_OPT_NO_PARITY |
				UART_OPT_ONE_STOP_BIT ) );
	//串口开			
	ENABLE_UART0();	
	DISABLE_UART0_INT();
	
//	ENABLE_UART0_RX_INT();		// Enable Receive interrupt
	
//	ENABLE_GLOBAL_INT();	// Enable all interrupts
	

	SET_LED_RDY();
	
}




//-------------------------------------------------------------------------------------------------------
//  void intToAscii(UINT32 value)
//
//  DESCRIPTION:
//		Takes a 32 bits interger as input and converts it to ascii. Puts the result in the global
//      variable asciiString[]
//
//	ARGUMENTS:
//		UINT32 value
//			The value to be converted
//-------------------------------------------------------------------------------------------------------
void intToAscii(UINT32 value) {
    UINT8 i;
    UINT8 j = 0;
    UINT8 digit_start = 0;
    UINT16 digit = 0;
    UINT32 denom = 1000000000;

    if (value == 0) {
        asciiString[0] = '0';
        asciiString[1] = NULL;
    } else {
        for(i = 10; i > 0; i--) {
            digit = value / denom;
            if((digit_start == 1) || (digit != 0)) {
                digit_start = 1;
                value %= denom;
                asciiString[j++] = (digit + '0');
            }
            denom /= 10;
        }
        asciiString[j++] = NULL;
    }
}// intToAscii