Send all sensor values from robot to base

base_station/include/main.h

@@ -3,7 +3,24 @@
 
 #include <stdint.h>
 
+#define MAX_PAYLOAD_SIZE 32
+
+enum return_codes {
+    R_OK,
+    R_PACKAGE_SIZE,
+};
+
+typedef struct {
+    /* uint8_t temp; */
+    double temp;
+    /* uint8_t distance; */
+    uint16_t distance;
+} data_packet_t;
+
 uint8_t tx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
 uint8_t rx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
 
+
+void convert_raw_to_data(uint8_t *in, data_packet_t *out);
+
 #endif

base_station/src/main.c

@@ -1,3 +1,5 @@
+#include <stdlib.h>
+#include <string.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <util/delay.h>
@@ -12,28 +14,47 @@
 
 int main(void)
 {
+    uint8_t *rx_raw;
+    data_packet_t *rx_data;
+
+    // Data packet is too large, should split in multiple packets
+    if (sizeof(data_packet_t) > MAX_PAYLOAD_SIZE)
+        return R_PACKAGE_SIZE;
+    rx_data = malloc(sizeof(data_packet_t));
+    rx_raw = malloc(sizeof(data_packet_t));
+
     init_leds();
     nrf24_init();
 
-    nrf24_config(2, 1); // Channel #2, payload: 1
+    nrf24_config(2, sizeof(data_packet_t)); // Channel #2
-    nrf24_tx_address(tx_address);
+    nrf24_rx_address(rx_address);
     nrf24_rx_address(rx_address);
 
     // Use green LED as power LED
-    SET(LED_PORT, LED_GREEN_BIT);
+    // TODO: need all LEDs for debugging, will use as power when UART debugger
+    // will arrive
+    /* SET(LED_PORT, LED_GREEN_BIT); */
 
-    uint8_t data_array[1];
     while (1) {
         if (nrf24_dataReady()) {
-            nrf24_getData(data_array);
+            memset(rx_raw, 0, sizeof(data_packet_t));
+            nrf24_getData(rx_raw);
+            memcpy(rx_data, rx_raw, sizeof(data_packet_t));
 
-            if (data_array[0] == 1)
+            if (rx_data->distance < 10)
                 SET(LED_PORT, LED_BLUE_BIT);
-            else if (data_array[0] == 0)
+            else
                 CLR(LED_PORT, LED_BLUE_BIT);
+
+            if (rx_data->temp > 23)
+                SET(LED_PORT, LED_GREEN_BIT);
+            else
+                CLR(LED_PORT, LED_GREEN_BIT);
         }
     }
 
+    free(rx_data);
+    free(rx_raw);
 
     return 0;
 }

robot/include/main.h

@@ -3,9 +3,24 @@
 
 #include <stdint.h>
 
+#define MAX_PAYLOAD_SIZE 32
+
+enum return_codes {
+    R_OK,
+    R_PACKAGE_SIZE,
+};
+
+typedef struct {
+    double temp;
+    /* uint8_t temp; */
+    /* uint8_t distance; */
+    uint16_t distance;
+} data_packet_t;
+
 uint8_t tx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
 uint8_t rx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
 
-void read_temp(void);
+
+void convert_data_to_raw(data_packet_t *in, uint8_t *out);
 
 #endif

robot/src/main.c

@@ -1,3 +1,5 @@
+#include <stdlib.h>
+#include <string.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <util/delay.h>
@@ -12,51 +14,62 @@
 #include "debug.h"
 #endif /* DEBUG */
 
-void read_temp(void)
-{
-    double d;
-
-    sei();
-    for (;;) {
-        d = ds18b20_gettemp();
-        if (d >= 23)
-            ;
-        else
-            ;
-
-        _delay_ms(500);
-    }
-}
-
 int main(void)
 {
+    uint8_t *tx_raw;
+    data_packet_t *tx_data;
+
+    // Data packet is too large, should split in multiple packets
+    if (sizeof(data_packet_t) > MAX_PAYLOAD_SIZE)
+        return R_PACKAGE_SIZE;
+    tx_data = malloc(sizeof(data_packet_t));
+    tx_raw = malloc(sizeof(data_packet_t));
+
     init_leds();
     /* init_servos(); */
     init_sonar();
     nrf24_init();
 
-    nrf24_config(2, 1); // Channel #2, payload: 1
+    nrf24_config(2, sizeof(data_packet_t)); // Channel #2
     nrf24_tx_address(tx_address);
     nrf24_rx_address(rx_address);
 
     // Use green LED as power LED
-    SET(LED_PORT, LED_GREEN_BIT);
+    // TODO: need all LEDs for debugging, will use as power when UART debugger
+    // will arrive
+    /* SET(LED_PORT, LED_GREEN_BIT); */
 
+    sei();
     /* run_servos(); */
     /* read_temp(); */
-    uint8_t data_array[1];
+
     while (1) {
         uint16_t distance_int_cm = read_sonar();
+        double temp = ds18b20_gettemp();
 
-        if (distance_int_cm <= 10 && distance_int_cm != SONAR_ERROR)
+        if (distance_int_cm <= 10 && distance_int_cm != SONAR_ERROR) {
-            data_array[0] = 1;
+            SET(LED_PORT, LED_BLUE_BIT);
-        else
+        } else {
-            data_array[0] = 0;
+            CLR(LED_PORT, LED_BLUE_BIT);
-        nrf24_send(data_array);
+        }
-        while (nrf24_isSending());
+        if (temp >= 23) {
-
+            SET(LED_PORT, LED_GREEN_BIT);
-        _delay_ms(SONAR_DELAY);
+        } else {
+            CLR(LED_PORT, LED_GREEN_BIT);
         }
 
-    return 0;
+        memset(tx_data, 0, sizeof(data_packet_t));
+        tx_data->distance = distance_int_cm;
+        tx_data->temp = temp;
+
+        memcpy(tx_raw, tx_data, sizeof(data_packet_t));
+        nrf24_send(tx_raw);
+        // TODO: prevent transmission to block the main loop
+        while (nrf24_isSending()); // Wait for transmission to finish
+    }
+
+    free(tx_data);
+    free(tx_raw);
+
+    return R_OK;
 }