#34 Merging the Long Range radio code to the Ultrasound range code

projects/03app_us_ranging/03app_us_ranging.c

@@ -17,49 +17,40 @@
 #include <stdlib.h>
 #include <string.h>
 
-// uncoment the board.h when porting this code to DotBot
-//#include "board.h"
+#include "board.h"
 #include "hc_sr04.h"
 #include "radio.h"
 
+//=========================== defines ===========================================
 
-//=========================== defines =========================================
+// Defines for setting up the trigger pulse width and frequency
+#define PULSE_DURATION_MS       0.01
+#define PULSE_OFFSET_MS         200
 
-/**
- * Struct used to store internal variables
- */
-typedef struct {
-    NRF_TIMER_Type *timer0;                   // variable for passing the Timer for sensor trigger 
-    NRF_TIMER_Type *timer1;                   // variable for passing the Timer for sensor echo measurement
-} us_ranging_vars_t;
+// Defines for the Radio
+#define NUMBER_OF_BYTES_IN_PACKET 32
 
 //=========================== prototypes =========================================
 
-/**
- * callback for the US echo measurement
- */
-void us_callback(uint32_t us_reading);     
-
-/**
- * callback for timer0 after pulse_offset_ms + pulse_duration_ms
- */
-void timer_callback(void);                 
+void us_callback(uint32_t us_reading);     // callback for the US echo measurement
+void timer_callback(void);                 // callback for timer0 after pulse_offset_ms + pulse_duration_ms
 
 /**
  * callback for the radio, called when Rx event
  */
 void radio_callback(uint8_t *packet, uint8_t length);
 
-/**
- * A function to setup the radio for the application needs. This function should be called after db_radio_init 
- */
-void us_radio_setup(void);
-
 //=========================== variables =========================================
 
+typedef struct {
+    NRF_TIMER_Type    *timer0;                     // Pointer to the TIMER structure used for triggering US sensor
+    NRF_TIMER_Type    *timer1;                     // Pointer to the TIMER structure used for reading the range on the US sensor
+
+    uint8_t packet_tx[NUMBER_OF_BYTES_IN_PACKET];  // Radio packet Tx
+    uint8_t packet_rx[NUMBER_OF_BYTES_IN_PACKET];  // Radio packet Rx
+} app_vars_t;
 
-static us_ranging_vars_t us_ranging_vars;
-
+static app_vars_t app_vars;
 
 //=========================== main =========================================
 
@@ -68,51 +59,72 @@ static us_ranging_vars_t us_ranging_vars;
  */
 int main(void) {
 
-    us_ranging_vars.timer0 = NRF_TIMER0;
-    us_ranging_vars.timer1 = NRF_TIMER1;
+    memset(&app_vars, 0, sizeof(app_vars_t));
+
+    app_vars.timer0 = NRF_TIMER0;
+    app_vars.timer1 = NRF_TIMER1;
 
     // uncomment if using this code on DotBot Turn ON the DotBot board regulator
-    //db_board_init();
+    db_board_init();
 
-    // Initialize Radio 
-    //db_radio_init(&radio_callback); // Set the callback function.
-
-
-    db_lr_radio_init(&radio_callback);
+    //=========================== Configure Radio =========================================
+
+    db_radio_init_lr(&radio_callback);                  // Set radio callback and initialize Long Range BLE
+    db_radio_set_frequency(8);                          // Set the RX frquency to 2408 MHz.
 
-    db_radio_set_frequency(8);      // Set the RX frequency to 2408 MHz.
-    db_radio_rx_enable();           // Start receiving packets.
+    db_radio_tx(app_vars.packet_tx, NUMBER_OF_BYTES_IN_PACKET);
+    db_radio_rx_enable();                               // Start receiving packets.
 
+    //=========================== Configure HC_SR04 =========================================
 
     // initilize the US sensor, set callback and chose the timers
-    us_init(&us_callback, &timer_callback, us_ranging_vars.timer0, us_ranging_vars.timer1);
+    hc_sr04_init(&us_callback, &timer_callback, app_vars.timer0, app_vars.timer1);
 
+    // initial timer settings for the trigger pulse 
+    hc_sr04_on_set_trigger(PULSE_DURATION_MS, PULSE_OFFSET_MS);
+
+    // start high frequency clock needed for PPI
+    hfclk_init();
+
     // start ranging
-    us_start();
-
-    // THIS IS ALREADY ENABLED IN db_radio_init - start high frequency clock needed for PPI
-    //hfclk_init();
+    hc_sr04_start();
 
-    while (1) {
-
+    while (1) {        
         __WFE();      
         __SEV();
         __WFE();
-
     }
-
     // one last instruction, doesn't do anything, it's just to have a place to put a breakpoint.
     __NOP();
 }
 
+//=========================== functions =========================================
+
+/**
+ *  @brief Callback function to process received packets
+ *
+ * This function gets called each time a packet is received.
+ *
+ * @param[in] packet pointer to the array of data to send over the radio (max size = 32)
+ * @param[in] length Number of bytes to send (max size = 32)
+ * 
+ */
+void radio_callback(uint8_t *packet, uint8_t length) {
+
+    // stop ranging
+    hc_sr04_stop();
+
+    // start ranging
+    hc_sr04_start();
+
+}
+
 /**
  *  @brief This is a callback for US reading.
  *         The code ends up here every time a new measurement is taken. The new measurement is stored in us_reading argument
  */
 void us_callback(uint32_t us_reading) {
-
     __NOP();
-
 }
 
 /**
@@ -121,26 +133,5 @@ void us_callback(uint32_t us_reading) {
  *         We could change the pulse_offset_ms here by writting a new value to timer0->CC[0] and timer0->CC[1]
  */
 void timer_callback(void) {
-
     __NOP();
-
 }
-
-/**
- *  @brief This is a callback for the radio Rx event.
- *         The code ends up here every time a radio packet is received.
- *         Here we setup the new values for the compare ragisters in order to change the offset of the US trigger timer.
- *         From here the PPI for US ranging starts every time a packet is received.
- */
-void radio_callback(uint8_t *packet, uint8_t length) {
-
-    //TODO
-    // stop ranging
-    //us_stop();
-
-    // start ranging
-    //us_start();
-    __NOP();
-
-}
-