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uberbutton/main.c

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#include <math.h>
#if ENABLE_NRF_COMM
#ifndef NRF_SPI_PORT
#error "NRF_SPI_PORT not defined"
#endif
#ifndef CE_PIN
#error "CE_PIN not defined"
#endif
#ifndef CS_PIN
#error "CS_PIN not defined"
#endif
#ifndef IRQ_PIN
#error "IRQ_PIN not defined"
#endif
#include "periph/spi.h"
#include "nrf24l01p_settings.h"
#include "nrf24l01p.h"
#include "nrf24l01p_settings.h"
#endif /* ENABLE_NRF_COMM */
#if ENABLE_SERVO
#include "servo.h"
#include "periph/pwm.h"
static unsigned int current_pulse = 1000;
static servo_t servo1;
#define MS_TO_SERVO(x) (((unsigned long long)(x) * SERVO_RESOLUTION * SERVO_FREQUENCY)/SEC_IN_USEC)
enum {
SERVO_RX_MSG,
SERVO_CLOSE_MSG,
SERVO_SET_MSG,
};
#endif
#if ENABLE_MM5450
#include "mm545x.h"
#endif
#include <stdio.h>
#include <stdint.h>
#include <inttypes.h>
#include <board.h>
#include <time.h>
#include <string.h>
#include "periph/gpio.h"
#include "xtimer.h"
#include "shell.h"
#include "shell_commands.h"
#include "thread.h"
#include "msg.h"
#include "cpu.h"
#include <periph/adc.h>
#include "periph_conf.h"
#if ENABLE_LCD
#include "lcd1602d.h"
#endif
#include "uberframe.h"
//#include "uberWrap.h"
#if ENABLE_MM5450
mm545x_t mm545p = {0};
#endif
#if ENABLE_WS2812
#include "ws2812.h"
#if WS2812_DMA
#include "ssi_udma.h"
#endif
#endif
#define TEST_RX_MSG 1
#if ENABLE_NRF_COMM
static int cmd_uber_setup(int argc, char **argv);
static int cmd_send(int argc, char **argv);
static int cmd_get_status(int argc, char **argv);
static int cmd_get_config(int argc, char **argv);
static int cmd_print_regs(int argc, char **argv);
static int cmd_its(int argc, char **argv);
static int cmd_set_tx_addr(int argc, char **argv);
static int cmd_set_channel(int argc, char **argv);
static int cmd_set_aa(int argc, char **argv);
static int cmd_get_rf_setup(int argc, char **argv);
static int cmd_set_dpl(int argc, char **argv);
#endif
void printbin(unsigned byte);
void print_register(char reg, int num_bytes);
#if ENABLE_SEND_LED
static gpio_t led = GPIO_PIN(PORT_F, 1);
#endif
static unsigned int display_pid = KERNEL_PID_UNDEF;
#if ENABLE_NRF_COMM
static nrf24l01p_t nrf24l01p_0;
static unsigned int sender_pid = KERNEL_PID_UNDEF;
#endif
#if ENABLE_LCD
#define LCD_REFRESH_EVT 0
#define LCD_LINE1_LINE2_EVT 1
static char lcd_line1[16] = {0};
static char lcd_line2[16] = {0};
struct lcd_ctx lcd = {
.rs_pin = GPIO_PIN(PORT_E, 5),
.enable_pin = GPIO_PIN(PORT_E,4),
.data_pins = {GPIO_PIN(PORT_D,0),GPIO_PIN(PORT_D,1),GPIO_PIN(PORT_D,2),GPIO_PIN(PORT_D,3)},
.displayfunctions = (LCD_4BITMODE | LCD_1LINE | LCD_2LINE | LCD_5x8DOTS),
.numlines = 2,
};
#endif
/**
* define some additional shell commands
*/
static const shell_command_t shell_commands[] = {
#if ENABLE_NRF_COMM
{"setaa", "set auto ack", cmd_set_aa },
{"setchannel", "set channel", cmd_set_channel },
{"status", "get status value", cmd_get_status },
{"setdpl", "set dyn payload", cmd_set_dpl },
{"rfsetup", "get rf setup", cmd_get_rf_setup },
{"config", "get config value", cmd_get_config },
{ "settxaddr", "set tx addr", cmd_set_tx_addr },
{ "prgs", "print registers", cmd_print_regs },
{ "it", "init transceiver", cmd_its },
{ "send", "send 32 bytes data", cmd_send },
{ "ubersetup", "uber setup", cmd_uber_setup},
#endif
{ NULL, NULL, NULL }
};
// ROTARY
#if ENABLE_ROTARY
#include "rotary.h"
/* #if 0 */
/* // No complete step yet. */
/* #define DIR_NONE 0x0 */
/* // Clockwise step. */
/* #define DIR_CW 0x10 */
/* // Anti-clockwise step. */
/* #define DIR_CCW 0x20 */
/* #define R_START 0x0 */
/* //#define HALF_STEP 1 */
/* #ifdef HALF_STEP */
/* // Use the half-step state table (emits a code at 00 and 11) */
/* #define R_CCW_BEGIN 0x1 */
/* #define R_CW_BEGIN 0x2 */
/* #define R_START_M 0x3 */
/* #define R_CW_BEGIN_M 0x4 */
/* #define R_CCW_BEGIN_M 0x5 */
/* const unsigned char ttable[6][4] = { */
/* // R_START (00) */
/* {R_START_M, R_CW_BEGIN, R_CCW_BEGIN, R_START}, */
/* // R_CCW_BEGIN */
/* {R_START_M | DIR_CCW, R_START, R_CCW_BEGIN, R_START}, */
/* // R_CW_BEGIN */
/* {R_START_M | DIR_CW, R_CW_BEGIN, R_START, R_START}, */
/* // R_START_M (11) */
/* {R_START_M, R_CCW_BEGIN_M, R_CW_BEGIN_M, R_START}, */
/* // R_CW_BEGIN_M */
/* {R_START_M, R_START_M, R_CW_BEGIN_M, R_START | DIR_CW}, */
/* // R_CCW_BEGIN_M */
/* {R_START_M, R_CCW_BEGIN_M, R_START_M, R_START | DIR_CCW}, */
/* }; */
/* #else */
/* // Use the full-step state table (emits a code at 00 only) */
/* #define R_CW_FINAL 0x1 */
/* #define R_CW_BEGIN 0x2 */
/* #define R_CW_NEXT 0x3 */
/* #define R_CCW_BEGIN 0x4 */
/* #define R_CCW_FINAL 0x5 */
/* #define R_CCW_NEXT 0x6 */
/* const unsigned char ttable[7][4] = { */
/* // R_START */
/* {R_START, R_CW_BEGIN, R_CCW_BEGIN, R_START}, */
/* // R_CW_FINAL */
/* {R_CW_NEXT, R_START, R_CW_FINAL, R_START | DIR_CW}, */
/* // R_CW_BEGIN */
/* {R_CW_NEXT, R_CW_BEGIN, R_START, R_START}, */
/* // R_CW_NEXT */
/* {R_CW_NEXT, R_CW_BEGIN, R_CW_FINAL, R_START}, */
/* // R_CCW_BEGIN */
/* {R_CCW_NEXT, R_START, R_CCW_BEGIN, R_START}, */
/* // R_CCW_FINAL */
/* {R_CCW_NEXT, R_CCW_FINAL, R_START, R_START | DIR_CCW}, */
/* // R_CCW_NEXT */
/* {R_CCW_NEXT, R_CCW_FINAL, R_CCW_BEGIN, R_START}, */
/* }; */
/* #endif */
/* /\* #define R_START 0x0 *\/ */
/* /\* #define R_CCW_BEGIN 0x1 *\/ */
/* /\* #define R_CW_BEGIN 0x2 *\/ */
/* /\* #define R_START_M 0x3 *\/ */
/* /\* #define R_CW_BEGIN_M 0x4 *\/ */
/* /\* #define R_CCW_BEGIN_M 0x5 *\/ */
/* /\* const unsigned char ttable[6][4] = { *\/ */
/* /\* // R_START (00) *\/ */
/* /\* {R_START_M, R_CW_BEGIN, R_CCW_BEGIN, R_START}, *\/ */
/* /\* // R_CCW_BEGIN *\/ */
/* /\* {R_START_M | DIR_CCW, R_START, R_CCW_BEGIN, R_START}, *\/ */
/* /\* // R_CW_BEGIN *\/ */
/* /\* {R_START_M | DIR_CW, R_CW_BEGIN, R_START, R_START}, *\/ */
/* /\* // R_START_M (11) *\/ */
/* /\* {R_START_M, R_CCW_BEGIN_M, R_CW_BEGIN_M, R_START}, *\/ */
/* /\* // R_CW_BEGIN_M *\/ */
/* /\* {R_START_M, R_START_M, R_CW_BEGIN_M, R_START | DIR_CW}, *\/ */
/* /\* // R_CCW_BEGIN_M *\/ */
/* /\* {R_START_M, R_CCW_BEGIN_M, R_START_M, R_START | DIR_CCW}, *\/ */
/* /\* }; *\/ */
/* #endif /\* 0 *\/ */
/* unsigned int state = R_START; */
/* unsigned int b1_v = gpio_read(ROTARY_PIN1) ? 1 : 0; */
/* unsigned int b2_v = gpio_read(ROTARY_PIN2) ? 1 : 0; */
/* #if ENABLE_SERVO */
/* int dir = 0; */
/* #endif */
/* unsigned char pinstate = ( b1_v? 2 : 0) | (b2_v ? 1 : 0); */
/* /\* printf("state %d pinstate : %x, b1 %d b2 %d\n", state, pinstate, b1_v, b2_v); *\/ */
/* state = ttable[state & 0xf][pinstate]; */
/* switch(state & 0x30){ */
/* case DIR_CCW: */
/* printf("CCW\n"); */
/* #if ENABLE_SERVO */
/* dir=1; */
/* #endif */
/* break; */
/* case DIR_CW: */
/* printf("CW\n"); */
/* #if ENABLE_SERVO */
/* dir=-1; */
/* #endif */
/* break; */
/* case DIR_NONE: */
/* default: */
/* break; */
/* } */
/* #if ENABLE_SERVO */
/* if(dir){ */
/* current_pulse += (dir * 10); */
/* printf("curr %d\n", current_pulse); */
/* if (current_pulse >= 1000 && current_pulse <= 2000){ */
/* // scale back servo value in our range */
/* unsigned long long tmp = MS_TO_SERVO(current_pulse); */
/* printf("Scaled : %lx\n", (unsigned long)tmp); */
/* servo_set(&servo1, tmp); */
/* } */
/* } */
/* #endif */
/* } */
#endif /* ENABLE_ROTARY */
void prtbin(unsigned byte)
{
for (char i = 0; i < 8; i++) {
printf("%u", (byte >> (7 - i)) & 0x0001);
}
puts("\n");
}
#if ENABLE_NRF_COMM
/**
* @print register
*/
void print_register(char reg, int num_bytes)
{
char buf_return[num_bytes];
int ret;
gpio_clear(CS_PIN);
xtimer_usleep(1);
ret = spi_transfer_regs(NRF_SPI_PORT, (CMD_R_REGISTER | (REGISTER_MASK & reg)), 0, buf_return, num_bytes);
gpio_set(CS_PIN);
if (ret < 0) {
printf("Error in read access\n");
}
else {
if (num_bytes < 2) {
printf("0x%x returned: ", reg);
for (int i = 0; i < num_bytes; i++) {
printf(" (%x) ", buf_return[i]);
prtbin(buf_return[i]);
}
}
else {
printf("0x%x returned: ", reg);
for (int i = 0; i < num_bytes; i++) {
printf("%x ", buf_return[i]);
}
printf("\n\n");
}
}
}
#endif
char display_handler_stack[THREAD_STACKSIZE_MAIN];
static char dest_str[4] = {0};
static char type_str[4] = {0};
static int type = 1;
static int dest = 0;
#if ENABLE_NRF_COMM
char tx_handler_stack[THREAD_STACKSIZE_MAIN];
/* RX handler that waits for a message from the ISR */
void *nrf24l01p_tx_thread(void *arg){
msg_t msg_q[1];
msg_init_queue(msg_q, 1);
sender_pid = thread_getpid();
msg_t m;
while (msg_receive(&m)) {
printf("nrf24l01p_tx got a message\n");
// lcd1602d_printstr(&lcd, 0, 1, dest_str);
#if ENABLE_LCD
lcd1602d_printstr(&lcd, 10, 1, "SEND...");
#endif
cmd_send(4, (char**)m.content.ptr);
#if ENABLE_LCD
lcd1602d_printstr(&lcd, 10, 1, "IDLE ");
#endif
}
return NULL;
}
#endif
void *display_thread(void *arg){
msg_t msg_q[1];
msg_init_queue(msg_q, 1);
display_pid = thread_getpid();
printf("Display thread starting %d\n", display_pid);
msg_t m;
while (msg_receive(&m)) {
printf("display_thread got a message\n");
#if ENABLE_LCD
switch (m.type){
case LCD_REFRESH_EVT:
{
const char *name = uber_get_name(dest);
lcd1602d_printstr(&lcd, 0, 1, name);
int i;
for (i=strlen(name); i<10; i++){
lcd1602d_printstr(&lcd, i, 1, " ");
}
}
break;
case LCD_LINE1_LINE2_EVT:
lcd1602d_printstr(&lcd, 0, 0, lcd_line1);
lcd1602d_printstr(&lcd, 0, 1, lcd_line2);
break;
default:
break;
}
#endif
}
return NULL;
}
#if ENABLE_SERVO_NOTIF
static unsigned int servo_pid = KERNEL_PID_UNDEF;
char servo_thread_stack[THREAD_STACKSIZE_MAIN];
#endif
#if ENABLE_WS2812
static unsigned int ws2812_pid = KERNEL_PID_UNDEF;
char ws2812_thread_stack[THREAD_STACKSIZE_MAIN];
#define WS2812_BUTTON_STATE 0
#define WS2812_NEW_RFMSG 1
static ws2812_rgb_t kit_leds [8] = {{0}};
#define NUM_LEDS (sizeof(kit_leds)/sizeof(ws2812_rgb_t))
static char big_buffer[sizeof(kit_leds)*4] = {0};
#define LEDS_VIRT_WIDTH (NUM_LEDS+4)
#if WS2812_DMA
uint8_t dma_done = 0;
#endif
int kit_eye = 3;
uint8_t led_val = 0;
static float leds_decay[LEDS_VIRT_WIDTH];
void *ws2812_thread(void *arg){
msg_t msg_q[1];
int ws2812_loop_period = 100000;
ws2812_pid = thread_getpid();
printf("Thread of leds, driving %d\n", NUM_LEDS);
#if ENABLE_WS2812
#if WS2812_DMA
ssi_udma_t ssi_udmap;
ssi_udma_init(&ssi_udmap, (uint8_t*)big_buffer, sizeof(big_buffer), &dma_done, ws2812_pid);
#else
ws2812_t ws2812p;
ws2812_init(&ws2812p, WS2812_SPI_PORT );
#endif
#endif
msg_init_queue(msg_q, 1);
msg_t m;
int cycle_idx=0;
int current_button_state = 0;
int pending_msg = 0;
#if WS2812_DMA
int ready_to_tx = 0;
#endif
int index;
for(index=0; index<LEDS_VIRT_WIDTH; index++){
leds_decay[index] = cos(2*index*3.14/(2*NUM_LEDS));
leds_decay[index] = leds_decay[index]>0?leds_decay[index]:0;
}
while(1){
int i;
if(pending_msg) pending_msg--;
#if WS2812_DMA
if (msg_receive(&m)){
#else
if (msg_try_receive(&m) == 1){
#endif
switch(m.type){
case WS2812_BUTTON_STATE:
if (pending_msg){
current_button_state = m.content.value;
memset(kit_leds, 0, sizeof(kit_leds));
/* ws2812_loop_period *= 10; */
pending_msg = 0;
}
break;
case WS2812_NEW_RFMSG:
printf("got msg\n");
pending_msg = 100;
break;
case SSI_UDMA_FINISHED:
ready_to_tx = 1;
// nothing, simply continue
default:
break;
}
}
int r_phase = pending_msg ? 0 : 2;
int g_phase = pending_msg ? 0 : 0;
int b_phase = pending_msg ? 0 : 4;
/* if (!pending_msg){ */
int pos = abs(kit_eye)-1;
/* for (i=0; i<4; i++){ */
/* kit_leds[i].b = (i == (pos %4))? 255 : 60; */
/* kit_leds[7-i].r = (i == (pos %4))? 255 : 60 ; */
/* } */
int led_idx;
for (led_idx = 0; led_idx<NUM_LEDS; led_idx++){
int r,g,b;
const float col_freq = 3.14*2/256;
r = sin(col_freq * (cycle_idx+256/led_idx) + r_phase ) * 127 + 128;
g = sin(col_freq * (cycle_idx+256/led_idx) + g_phase ) * 127 + 128;
b = sin(col_freq * (cycle_idx+256/led_idx) + b_phase ) * 127 + 128;
cycle_idx++;
kit_leds[led_idx].r = (int)(r*.6);
kit_leds[led_idx].g = (int)(g*.6);
kit_leds[led_idx].b = (int)(b*.6);
}
/* } else { */
/* int pos = abs(kit_eye)-1; */
/* int dir = kit_eye > 0; */
/* int v; */
/* int led_idx; */
/* for (led_idx=0; led_idx < NUM_LEDS; led_idx++){ */
/* if ((dir && led_idx > pos) || (!dir && led_idx < pos)) */
/* continue; */
/* v = leds_decay[abs(led_idx-pos)] * 255; */
/* kit_leds[led_idx].r = v; */
/* } */
/* } */
#if ENABLE_WS2812
#if WS2812_DMA
ws2812_fill_rgb(kit_leds, NUM_LEDS, big_buffer);
#else
ws2812_write_rgb(&ws2812p, kit_leds, NUM_LEDS, big_buffer);
#endif
#endif
#if WS2812_DMA
if (ready_to_tx){
ready_to_tx = 0;
ssi_udma_restart_tx(&ssi_udmap);
}
#endif
kit_eye++;
if (kit_eye == (NUM_LEDS+1+4)){
kit_eye = -(NUM_LEDS +4);
} else if (kit_eye == -(NUM_LEDS + 1 + 4)){
kit_eye = NUM_LEDS+4;
} else if (kit_eye == 0){
kit_eye++;
}
#if WS2812_DMA
xtimer_usleep(ws2812_loop_period);
#endif
}
/* while (msg_receive(&m)) { */
/* printf("ws2812_thread got a message\n"); */
/* } */
return NULL;
}
#endif /* ENABLE_WS2812 */
#if ENABLE_ROTARY
char rotary_thread_stack[THREAD_STACKSIZE_MAIN];
unsigned int rotary_pid = KERNEL_PID_UNDEF;
rotary_t rotarydev;
/* RX handler that waits for a message from the ISR */
void *rotary_thread(void *arg){
static char *argv[] = {"", "4", dest_str , "1"};
static enum {IDLE, SEL_TGT, SEL_TYPE, SEND} fsm_state;
fsm_state = SEL_TGT;
msg_t msg_q[1];
msg_init_queue(msg_q, 1);
rotary_pid = thread_getpid();
#if ENABLE_SERVO_ROTARY
int dir = 0;
#endif
puts("Registering rotary_handler thread...");
rotary_register(&rotarydev, rotary_pid);
msg_t m;
while (msg_receive(&m)) {
puts("rotary Received msg.");
switch (m.type) {
case ROTARY_EVT:
if (m.content.value == DIR_CW){
puts("DIR CW\n");
if (fsm_state == IDLE){
fsm_state = SEL_TGT;
}
if(fsm_state == SEL_TGT){
dest = (dest+1)>8?0xFF:dest+1;
} else if (fsm_state == SEL_TYPE){
type = (type+1)>10?10:type+1;
} else {
}
#if ENABLE_SERVO_ROTARY
dir=1;
#endif
} else {
puts("DIR CCW\n");
if(fsm_state == SEL_TGT){
dest = (dest-1)>0? ((dest-1)<8 ? dest-1 : 7) : 0;
} else if (fsm_state == SEL_TYPE){
type = (type-1)>0?type-1:0;
} else {
}
#if ENABLE_SERVO_ROTARY
dir=-1;
#endif
}
break;
case ROTARY_CLICK:
#if ENABLE_NRF_COMM
if(fsm_state == SEL_TGT){
printf("dest : %d\n", dest);
fsm_state = SEL_TYPE;
break;
} else if (fsm_state == SEL_TYPE){
printf("type : %d\n", type);
fsm_state = SEND;
}
if (sender_pid != KERNEL_PID_UNDEF) {
msg_t m;
sprintf(dest_str, "%d",
dest != 8 ? dest : 0xFF);
dest_str[3] = 0;
sprintf(type_str, "%d",
type != 8 ? type : 0xFF);
type_str[3] = 0;
m.type = RCV_PKT_NRF24L01P;
m.content.ptr = (char *)argv;
/* transmit more things here ? */
msg_send_int(&m, sender_pid);
}
fsm_state = IDLE;
#endif
default:
break;
}
#if ENABLE_LCD
if (display_pid != KERNEL_PID_UNDEF){
msg_t m;
/* memset(lcd_line1, ' ', sizeof(lcd_line1)); */
/* memset(lcd_line2, ' ', sizeof(lcd_line2)); */
sprintf(lcd_line1, "Dest: %s ", uber_get_name(dest));
sprintf(lcd_line2, "Type: %s ", uber_get_type(type));
m.type = LCD_LINE1_LINE2_EVT;
m.content.ptr = NULL;
msg_send_int(&m, display_pid);
}
#endif
#if ENABLE_SERVO_ROTARY
if(dir){
current_pulse += (dir * 10);
printf("curr %d\n", current_pulse);
if (current_pulse >= 1000 && current_pulse <= 2000){
// scale back servo value in our range
unsigned long long tmp = MS_TO_SERVO(current_pulse);
printf("Scaled : %lx\n", (unsigned long)tmp);
servo_set(&servo1, tmp);
}
}
#endif
}
return NULL;
}
#endif
#if ENABLE_SERVO
void *servo_handler(void *arg)
{
static msg_t close_msg = {
.type = SERVO_CLOSE_MSG
};
static xtimer_t close_timeout = {0};
msg_t msg_q[1];
msg_init_queue(msg_q, 1);
servo_pid = thread_getpid();
msg_t m;
int r = servo_init(&servo1, SERVO_PWM, 0, MS_TO_SERVO(1000),
MS_TO_SERVO(2000));
printf("servo init : %d\n", r);
servo_set(&servo1, MS_TO_SERVO(1000));
while (msg_receive(&m)) {
long long val;
switch (m.type) {
case SERVO_RX_MSG:
printf("Opening BOX\n");
val = MS_TO_SERVO(1700);
close_timeout.target = 0;
close_timeout.long_target = 0;
xtimer_set_msg(&close_timeout, 100 * 100000, &close_msg, servo_pid);
break;
case SERVO_CLOSE_MSG:
printf("Closing BOX\n");
val = MS_TO_SERVO(1000);
break;
case SERVO_SET_MSG:
val = MS_TO_SERVO(m.content.value);
break;
default:
continue;
break;
}
servo_set(&servo1, val);
}
return NULL;
}
#endif
#if ENABLE_NRF_COMM
char rx_handler_stack[THREAD_STACKSIZE_MAIN];
/* RX handler that waits for a message from the ISR */
void *nrf24l01p_rx_handler(void *arg)
{
msg_t msg_q[1];
msg_init_queue(msg_q, 1);
unsigned int pid = thread_getpid();
// char rx_buf[NRF24L01P_MAX_DATA_LENGTH];
radiohead_frame_t frame;
char *rx_buf = (char*)&frame;
puts("Registering nrf24l01p_rx_handler thread...");
nrf24l01p_register(&nrf24l01p_0, &pid);
msg_t m;
while (msg_receive(&m)) {
printf("nrf24l01p_rx_handler got a message: ");
switch (m.type) {
case RCV_PKT_NRF24L01P:
puts("Received packet.");
/* CE low */
nrf24l01p_stop((nrf24l01p_t *)m.content.ptr);
/* read payload */
nrf24l01p_read_payload((nrf24l01p_t *)m.content.ptr, rx_buf, NRF24L01P_MAX_DATA_LENGTH);
/* flush rx fifo */
nrf24l01p_flush_rx_fifo((nrf24l01p_t *)m.content.ptr);
/* CE high */
nrf24l01p_start((nrf24l01p_t *)m.content.ptr);
/* print rx buffer */
/* for (int i = 0; i < NRF24L01P_MAX_DATA_LENGTH; i++) { */
/* printf("%i ", rx_buf[i]); */
/* } */
/* puts(""); */
uber_dump_frame(&frame);
char buf[256] = {0};
uber_get_frame(&frame, buf);
#if ENABLE_LCD
printf("lcd rx:%p\n", &lcd);
lcd1602d_printstr(&lcd, 0, 0, buf);
#endif
#if ENABLE_WS2812
printf("Sending msg to WS2812 %d\n", ws2812_pid);
if (ws2812_pid != KERNEL_PID_UNDEF) {
msg_t m;
m.type = WS2812_NEW_RFMSG;
m.content.ptr = (char*)&frame;
msg_send_int(&m, ws2812_pid);
}
#endif
#if ENABLE_SERVO_NOTIF
if (servo_pid != KERNEL_PID_UNDEF) {
msg_t m;
m.type = SERVO_RX_MSG;
msg_send_int(&m, servo_pid);
}
#endif
break;
default:
puts("stray message.");
break;
}
}
puts("nrf24l01p_rx_handler: this should not have happened!");
return NULL;
}
/**
* @init transceiver
*/
int cmd_its(int argc, char **argv)
{
(void) argc;
(void) argv;
puts("Init Transceiver\n");
/* initialize transceiver device */
if (nrf24l01p_init(&nrf24l01p_0, NRF_SPI_PORT, CE_PIN, CS_PIN, IRQ_PIN) < 0) {
puts("Error in nrf24l01p_init");
return 1;
}
if (nrf24l01p_set_datarate(&nrf24l01p_0, NRF24L01P_DR_2MBS) < 0){
puts("Error in nrf24l01p_set_datarate");
return 1;
}
/* setup device as receiver */
if (nrf24l01p_set_rxmode(&nrf24l01p_0) < 0) {
puts("Error in nrf24l01p_set_rxmode");
return 1;
}
return cmd_print_regs(0, 0);
}
int cmd_get_config(int argc, char **argv)
{
unsigned char buf_return;
int ret;
gpio_clear(CS_PIN);
xtimer_usleep(1);
ret = spi_transfer_regs(NRF_SPI_PORT, (CMD_R_REGISTER | (REGISTER_MASK & REG_CONFIG)), 0, (char*)&buf_return, 1);
gpio_set(CS_PIN);
if (ret < 0) {
printf("Error in read access\n");
return -1;
}
printf("Config : %x\n", buf_return);
printf(" prim_rx : %d (%s)\n", buf_return & PRIM_RX, (buf_return & PRIM_RX)? "PRX" : "PTX" );
printf(" pwr_up : %d (%s)\n", buf_return & PWR_UP, (buf_return & PWR_UP)? "UP" : "DOWN");
printf(" crco : %d (%s)\n", buf_return & CRCO, (buf_return & CRCO)? "2 bytes" : "1 byte");
printf(" en_crc : %d (%s)\n", buf_return & EN_CRC, (buf_return & EN_CRC)? "enabled" : "disabled");
printf(" mask_max_rt : %d (%s)\n", buf_return & MASK_MAX_RT, (buf_return & MASK_MAX_RT)? "not IRQ" : "on IRQ");
printf(" mask_tx_ds : %d (%s)\n", buf_return & MASK_TX_DS, (buf_return & MASK_TX_DS)? "not IRQ" : "on IRQ");
printf(" mask_rx_dr : %d (%s)\n", buf_return & MASK_RX_DR, (buf_return & MASK_RX_DR)? "not IRQ" : "on IRQ");
return 0;
}
int cmd_get_status(int argc, char **argv)
{
int status = nrf24l01p_get_status(&nrf24l01p_0);
/* get status of the transceiver */
printf("Status : %x\n", status);
printf(" rx_dr : %d\n", status & RX_DR);
printf(" tx_ds : %d\n", status & TX_DS);
printf(" max_rt : %d\n", status & MAX_RT);
printf(" rx_p_no : %x (%s)\n", (status & RX_P_NO)>>1,
(status & RX_P_NO) == 0x7<<1 ? "EMPTY" :
(status & RX_P_NO) == 0x6<<1 ? "INVALID" :
"PIPE NUM");
printf(" tx_full : %d\n", status & TX_FULL);
return 0;
}
int cmd_uber_setup(int argc, char **argv)
{
(void) argc;
(void) argv;
int pipe;
puts("Uber Setup !\n");
printf("CE : pin %d: port %d\n", (unsigned int)(CE_PIN&0x0f), (unsigned int)(CE_PIN>>4));
printf("CS : pin %d: port %d\n", (unsigned int)(CS_PIN&0x0f), (unsigned int)(CS_PIN>>4));
printf("IRQ : pin %d: port %d\n", (unsigned int)(IRQ_PIN&0x0f), (unsigned int)(IRQ_PIN>>4));
/* initialize transceiver device */
if (nrf24l01p_init(&nrf24l01p_0, NRF_SPI_PORT, CE_PIN, CS_PIN, IRQ_PIN) < 0) {
puts("Error in nrf24l01p_init");
return 1;
}
if (nrf24l01p_set_datarate(&nrf24l01p_0, NRF24L01P_DR_2MBS) < 0){
puts("Error in nrf24l01p_set_datarate");
return 1;
}
if (nrf24l01p_enable_crc(&nrf24l01p_0, NRF24L01P_CRC_2BYTE) < 0){
puts("Error in nrf24l01p_enable_crc");
return 1;
}
if (nrf24l01p_set_channel(&nrf24l01p_0, 1) < 0){
puts("Error setting channel\n");
return 1;
}
for (pipe=0; pipe<6; pipe++){
if(nrf24l01p_setup_auto_ack(&nrf24l01p_0, pipe, NRF24L01P_RETR_250US, 15) < 0){
printf("Error in nrf24l01p_setup_auto_ack on pipe %d\n", pipe);
return 1;
}
if(nrf24l01p_enable_dynamic_payload(&nrf24l01p_0, pipe)<0){
printf("Error in nrf24l01p_enable_dynamic_payload on pipe %d\n", pipe);
return 1;
}
}
if(nrf24l01p_enable_dynamic_ack(&nrf24l01p_0)<0){
printf("Error in nrf24l01p_enable_dynamic_ack\n");
return 1;
}
/* create thread that gets msg when data arrives */
if (thread_create(
rx_handler_stack, sizeof(rx_handler_stack), THREAD_PRIORITY_MAIN - 1, 0,
nrf24l01p_rx_handler, 0, "nrf24l01p_rx_handler") < 0) {
puts("Error in thread_create");
return 1;
}
/* create thread that send msg */
if (thread_create(
tx_handler_stack, sizeof(tx_handler_stack), THREAD_PRIORITY_MAIN - 1, 0,
nrf24l01p_tx_thread, 0, "nrf24l01p_tx_thread") < 0) {
puts("Error in thread_create");
return 1;
}
/* setup device as receiver */
if (nrf24l01p_set_rxmode(&nrf24l01p_0) < 0) {
puts("Error in nrf24l01p_set_rxmode");
return 1;
}
return 0; //cmd_print_regs(0, 0);
}
/**
* @set TX mode
*/
int cmd_send(int argc, char **argv)
{
#if ENABLE_SEND_LED
gpio_set(led);
#endif
puts("Send");
int status = 0;
radiohead_frame_t frame = {0};
// unsigned int flen = sizeof(frame);
frame.radiohead_src = 0xff;
frame.radiohead_dst = 0xff;
frame.frame.header.src = atoi(argv[1]);
frame.frame.header.dst = atoi(argv[2]);
frame.frame.header.type = atoi(argv[3]);
frame.frame.header.payload_sz = 0;
uber_dump_frame(&frame);
// char tx_buf[NRF24L01P_MAX_DATA_LENGTH];
char *tx_buf = (char*) &frame;
unsigned int i, flen = uber_get_frame_size(&frame);
printf ("Sending: ");
for (i=0; i<flen; i++){
printf("%x.",tx_buf[i]);
}
printf("\n");
printf(" -> %d bytes\n", flen);
/* char *tx_buf = (char*) f; */
/* fill TX buffer with numbers 32..1 */
/* for (int i = 0; i < sizeof(tx_buf); i++) { */
/* tx_buf[i] = NRF24L01P_MAX_DATA_LENGTH - i; */
/* } */
/* power on the device */
if (nrf24l01p_on(&nrf24l01p_0) < 0) {
puts("Error in nrf24l01p_on");
return 1;
}
/* setup device as transmitter */
if (nrf24l01p_set_txmode(&nrf24l01p_0) < 0) {
puts("Error in nrf24l01p_set_txmode");
return 1;
}
/* load data to transmit into device */
if (nrf24l01p_preload(&nrf24l01p_0, tx_buf, flen /* NRF24L01P_MAX_DATA_LENGTH */) < 0) {
puts("Error in nrf24l01p_preload");
return 1;
}
/* trigger transmitting */
nrf24l01p_transmit(&nrf24l01p_0);
/* wait while data is pysically transmitted */
xtimer_usleep(DELAY_DATA_ON_AIR*10);
/* get status of the transceiver */
status = nrf24l01p_get_status(&nrf24l01p_0);
if (status < 0) {
puts("Error in nrf24l01p_get_status");
}
if (status & TX_DS) {
status = nrf24l01p_reset_interrupts(&nrf24l01p_0, MASK_TX_DS);
printf("Sent Packet %x\n", MASK_TX_DS);
} else {
printf ("Status is %x\n", status);
}
/* setup device as receiver */
if (nrf24l01p_set_rxmode(&nrf24l01p_0) < 0) {
puts("Error in nrf24l01p_set_rxmode");
return 1;
}
#if ENABLE_SEND_LED
gpio_clear(led);
#endif
return 0;
}
int cmd_set_channel(int argc, char **argv){
int channel = atoi(argv[1]);
int ret = nrf24l01p_set_channel(&nrf24l01p_0, channel);
if (ret < 0){
printf("Error setting channel\n");
}
return 0;
}
int cmd_set_aa(int argc, char **argv){
int pipe = atoi(argv[1]);
int ret = nrf24l01p_setup_auto_ack(&nrf24l01p_0, pipe, NRF24L01P_RETR_250US, 15);
if (ret < 0){
printf("Error setting auto ack on pipe %d\n", pipe);
return -1;
}
return 0;
}
int cmd_set_dpl(int argc, char **argv){
int pipe = atoi(argv[1]);
int ret = nrf24l01p_enable_dynamic_payload(&nrf24l01p_0, pipe);
if (ret < 0){
printf("Error enabling DPL on pipe %d\n", pipe);
return -1;
}
return 0;
}
int cmd_get_rf_setup(int argc, char **argv){
unsigned char reg_val;
unsigned char reg_rf_ch;
int ret = nrf24l01p_read_reg(&nrf24l01p_0, REG_RF_SETUP, (char*)&reg_val);
if (ret < 0){
printf("Error getting RF_SETUP\n");
}
ret = nrf24l01p_read_reg(&nrf24l01p_0, REG_RF_CH, (char*)&reg_rf_ch);
if (ret < 0){
printf("Error getting RF_CH\n");
}
printf("Rf channel : %x\n", reg_rf_ch);
printf("rf_setup : %x\n", reg_val);
printf(" rf_pwr : %x ", reg_val & RF_SETUP_RF_PWR);
switch((reg_val & RF_SETUP_RF_PWR)>>1){
case 0:
printf("(-18dBm)\n");
break;
case 1:
printf("(-12dBm)\n");
break;
case 2:
printf("(-6dBm)\n");
break;
case 3:
printf("(0dBm)\n");
break;
default:
printf("invalid\n");
}
printf(" rf_dr_high : %x\n", reg_val & RF_SETUP_RF_DR_HIGH);
printf(" pll_lock : %x\n", reg_val & RF_SETUP_PLL_LOCK);
printf(" rf_dr_low : %x\n", reg_val & RF_SETUP_RF_DR_LOW);
printf("dr_low/dr_high : ");
switch(reg_val & (RF_SETUP_RF_DR_LOW | RF_SETUP_RF_DR_HIGH)){
case 0x0:
printf("1mbps\n");
break;
case 0x1<<3:
printf("2mbps\n");
break;
case 0x100<<3:
printf("250kbps\n");
break;
case 0x101<<3:
printf("RESERVED\n");
break;
default:
printf("invalid\n");
}
printf(" cont_wave : %x\n", reg_val & RF_SETUP_CONT_WAVE);
return 0;
}
int cmd_set_tx_addr(int argc, char **argv){
char new_tx_addr[] = {0xde, 0xad, 0xbe, 0xef, 0x00,};
if (argc == 6) {
int i;
printf ("Got:");
for (i=1; i < 6; i++){
new_tx_addr[i-1] = strtol(argv[i], NULL, 0);
printf("%x ", new_tx_addr[i-1]);
}
puts("\n");
}
nrf24l01p_set_tx_address(&nrf24l01p_0, new_tx_addr, INITIAL_ADDRESS_WIDTH);
return 0;
}
/**
* @print registers
*/
int cmd_print_regs(int argc, char **argv)
{
(void) argc;
(void) argv;
printf("################## Print Registers ###################\n");
puts("REG_CONFIG: ");
print_register(REG_CONFIG, 1);
puts("REG_EN_AA: ");
print_register(REG_EN_AA, 1);
puts("REG_EN_RXADDR: ");
print_register(REG_EN_RXADDR, 1);
puts("REG_SETUP_AW: ");
print_register(REG_SETUP_AW, 1);
puts("REG_SETUP_RETR: ");
print_register(REG_SETUP_RETR, 1);
puts("REG_RF_CH: ");
print_register(REG_RF_CH, 1);
puts("REG_RF_SETUP: ");
print_register(REG_RF_SETUP, 1);
puts("REG_STATUS: ");
print_register(REG_STATUS, 1);
puts("REG_OBSERVE_TX: ");
print_register(REG_OBSERVE_TX, 1);
puts("REG_RPD: ");
print_register(REG_RPD, 1);
puts("REG_RX_ADDR_P0: ");
print_register(REG_RX_ADDR_P0, INITIAL_ADDRESS_WIDTH);
puts("REG_RX_ADDR_P1: ");
print_register(REG_RX_ADDR_P1, INITIAL_ADDRESS_WIDTH);
puts("REG_RX_ADDR_P2: ");
print_register(REG_RX_ADDR_P2, INITIAL_ADDRESS_WIDTH);
puts("REG_RX_ADDR_P3: ");
print_register(REG_RX_ADDR_P3, INITIAL_ADDRESS_WIDTH);
puts("REG_RX_ADDR_P4: ");
print_register(REG_RX_ADDR_P4, INITIAL_ADDRESS_WIDTH);
puts("REG_RX_ADDR_P5: ");
print_register(REG_RX_ADDR_P5, INITIAL_ADDRESS_WIDTH);
puts("REG_TX_ADDR: ");
print_register(REG_TX_ADDR, INITIAL_ADDRESS_WIDTH);
puts("REG_RX_PW_P0: ");
print_register(REG_RX_PW_P0, 1);
puts("REG_FIFO_STATUS: ");
print_register(REG_FIFO_STATUS, 1);
puts("REG_DYNPD: ");
print_register(REG_DYNPD, 1);
puts("REG_FEATURE: ");
print_register(REG_FEATURE, 1);
return 0;
}
#endif
void test_cb(void * bid){
int id = *(int*)bid;
printf ("in cb %d\n", id);
// static char dest_str[10] = {0};
static char *argv[] = {"", "4", dest_str , "1"};
(void)argv;
switch (id){
case 1:
dest = (dest +1 ) % 9;
if (!dest) {
// skip 0, it is invalid
dest = 1;
}
printf("dest %d\n", dest != 8 ? dest : 0xFF);
#if ENABLE_LCD
printf("lcd cb:%p\n", &lcd);
// lcd1602d_printstr(&lcd, 0, 1, dest_str);
if (display_pid != KERNEL_PID_UNDEF) {
msg_t m;
m.type = LCD_REFRESH_EVT;
m.content.ptr = NULL;
msg_send_int(&m, display_pid);
}
#endif
return;
break;
case 2:
break;
default:
return;
}
sprintf(dest_str, "%d", dest != 8 ? dest : 0xFF);
dest_str[3] = 0;
#if ENABLE_NRF_COMM
if (sender_pid != KERNEL_PID_UNDEF) {
msg_t m;
m.type = RCV_PKT_NRF24L01P;
m.content.ptr = (char *)argv;
/* transmit more things here ? */
msg_send_int(&m, sender_pid);
}
#endif
printf("exit cb\n");
//cmd_send(4, argv);
}
void rotary_cb(void * bid){
if (rotary_pid != KERNEL_PID_UNDEF) {
msg_t m;
m.type = ROTARY_CLICK;
m.content.ptr = NULL;
msg_send_int(&m, rotary_pid);
}
}
#if ENABLE_RES_LADDER
static int res_ladder_val(adc_t adc){
int sample = adc_sample(adc, ADC_RES_10BIT);
const int max_v = 4095;
int j;
int but_state = 0;
float v_adc = ((float)sample) * /* 3.09375 */ 3.3 /4095.0;
/* printf("adc : [%f]\n", v_adc); */
for (j=1; j<=4; j++){
// printf("[%d-%d > %d?", sample, max_v/(1<<j), -(max_v/(1<<(j+2))));
if (sample - max_v/(1<<j) > -max_v/(32) /* -(max_v/(1<<(j+2))) */ /* -4095/(j*(j+1)) */){
// printf("%d Test ok /", j);
sample -= max_v/(1<<j);
but_state |= 1<<(j-1);
}
}
return but_state;
}
#endif
int main(void)
{
puts("Uber\n");
#if ENABLE_SERVO
if (thread_create(
servo_thread_stack, sizeof(servo_thread_stack), THREAD_PRIORITY_MAIN - 1, 0,
servo_handler, 0, "servo_handler") < 0) {
puts("Error in thread_create");
return 1;
}
#else
printf("servo disable\n");
#endif
#if ENABLE_MM5450
mm545x_init(&mm545p, MM5450_CLK, MM5450_DIN);
uint8_t sev1[8] = {0,1,2,3,4,5,6,7};
uint8_t sev2[8] = {8,9,10,11,12,13,14,15};
/* mm545x_setupSegment(&mm545p, 0, sev1); */
/* mm545x_setupSegment(&mm545p, 1, sev2); */
/* mm545x_setSegment(&mm545p, 0, '8'); */
mm545x_setLeds(&mm545p, 0xffffffffffffffff);
// mm545x_refreshSegments(&mm545p);
/* gpio_init(GPIO_PIN(PORT_C,5), GPIO_DIR_OUT, GPIO_NOPULL); */
/* gpio_set(GPIO_PIN(PORT_C,5)); */
#else
printf("mm5450 disable\n");
#endif
/* create thread that display msg */
if (thread_create(
display_handler_stack, sizeof(display_handler_stack), THREAD_PRIORITY_MAIN - 1, 0,
display_thread, 0, "display_thread") < 0) {
puts("Error in thread_create");
return 1;
}
#if ENABLE_LCD
lcd1602d_init_lcd(&lcd);
// lcd1602d_setCursor(&lcd, 0,0);
printf("lcd:%p\n", &lcd);
lcd1602d_printstr(&lcd, 0, 0, "STARTING");
#else
printf("lcd disable\n");
#endif
/* lcd1602d_printstr(&lcd, 0,0,"Bojr"); */
/* lcd1602d_printstr(&lcd, 3,1,"Bloop"); */
#if ENABLE_BOARD_SWITCH
gpio_t b1 = GPIO_PIN(PORT_F, 4);
int b1_v = 1, b2_v = 2;
gpio_init_int(b1, GPIO_IN_PU, GPIO_FALLING, test_cb, &b1_v);
gpio_t b2 = GPIO_PIN(PORT_F, 0);
gpio_init_int(b2, GPIO_IN_PU, GPIO_FALLING, test_cb, &b2_v);
#else
printf("board switch disable\n");
#endif
#if ENABLE_ROTARY_BUTTON
const gpio_t rot_pin = ROTARY_BUTTON_PIN;
gpio_init_int(rot_pin, GPIO_IN_PU, GPIO_FALLING, rotary_cb, NULL);
#else
printf("rotary button disable\n");
#endif
#if ENABLE_SEND_LED
gpio_init(led, GPIO_DIR_OUT, GPIO_NOPULL);
gpio_clear(led);
#else
printf("send led disable\n");
#endif
//char line_buf[SHELL_DEFAULT_BUFSIZE];
#if ENABLE_NRF_COMM
cmd_uber_setup(0, NULL);
#else
printf("nrf24 disable\n");
#endif
//shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
#if ENABLE_ROTARY
#if 0
gpio_init_int(ROTARY_PIN1, GPIO_IN_PU, GPIO_BOTH, rotary_cb, NULL);
gpio_init_int(ROTARY_PIN2, GPIO_IN_PU, GPIO_BOTH, rotary_cb, NULL); //GPIO_DIR_IN, GPIO_PULLUP);
#else
printf("Init rotary encoder\n");
rotary_init(&rotarydev, ROTARY_PIN1, ROTARY_PIN2);
if (thread_create(
rotary_thread_stack, sizeof(rotary_thread_stack), THREAD_PRIORITY_MAIN - 1, 0,
rotary_thread, 0, "rotary_thread") < 0) {
puts("Error in thread_create for rotary");
return 1;
}
#endif
#else
printf("rotary disable\n");
#endif
#if ENABLE_RES_LADDER
adc_init(RES_LADDER_ADC_LINE);//, 10);
int button_state = res_ladder_val(RES_LADDER_ADC_LINE);
#else
printf("res ladder (adc) disable\n");
#endif
#if ENABLE_WS2812
if (thread_create(
ws2812_thread_stack, sizeof(ws2812_thread_stack), THREAD_PRIORITY_MAIN - 1, 0,
ws2812_thread, 0, "ws2812_thread") < 0) {
puts("Error in thread_create");
return 1;
}
#else
printf("ws2812 disable\n");
#endif
// endless loop start
int loop_count=0;
while(1){
loop_count++;
#if ENABLE_WS2812 && 0
{
int i;
int pos = abs(kit_eye)-1;
for (i=0; i<8; i++){
kit_leds[i].r = 255 / (1 << abs(i-pos)) ;
}
ws2812_write_rgb(&ws2812p, kit_leds, sizeof(kit_leds)/sizeof(ws2812_rgb_t), big_buffer);
kit_eye++;
if (kit_eye == (NUM_LEDS+1+4)){
kit_eye = -(NUM_LEDS+4);
} else if (kit_eye == -(NUM_LEDS+1+4)){
kit_eye = NUM_LEDS + 4;
} else if (kit_eye == 0){
kit_eye++;
}
}
#endif
#if ENABLE_WS2812 && 0
ws2812_write_rgb(&ws2812p, led_array, sizeof(led_array)/sizeof(ws2812_rgb_t), big_buffer);
// ws2812_write(&ws2812p, led_array_2, sizeof(led_array_2));
int idx;
for (idx=0; idx < sizeof(led_array)/sizeof(ws2812_rgb_t)-1; idx++){
ws2812_rgb_t *cur = &led_array[idx];
if (cur->r == 0xff && cur->g==0xff && cur->b ){
cur->b--;
} else if (cur->r==0xff && cur->g && !cur->b){
cur->g--;
} else if (cur->r && !cur->g && !cur->b){
cur->r--;
} else if(!cur->r && !cur->g && cur->b != 0xff){
cur->b++;
} else if(!cur->r && cur->g != 0xff && cur->b == 0xff){
cur->g++;
} else if (cur->r!=0xff && cur->g==0xff && cur->b == 0xff){
cur->r++;
}
// printf("%x %x %x\n", cur->r, cur->g, cur->b);
}
// rotate stuff
if (loop_count % 1000000){
ws2812_rgb_t tmp = led_array[sizeof(led_array)/sizeof(ws2812_rgb_t)-1];
for (idx=sizeof(led_array)/sizeof(ws2812_rgb_t)-1; idx > 0; idx--){
led_array[idx] = led_array[idx-1];
}
led_array[0] = tmp;
}
#endif
#if ENABLE_RES_LADDER
int new_button_state = res_ladder_val(RES_LADDER_ADC_LINE);
if (new_button_state != button_state){
printf("%d-%d-%d-%d\n", new_button_state & 0x8 ? 1 : 0,
new_button_state & 0x4 ? 1 : 0,
new_button_state & 0x2 ? 1 : 0,
new_button_state & 0x1 ? 1 : 0);
dest = new_button_state & 0x7; // only 3bits
if ((new_button_state & 0x7) != (button_state & 0x7) &&
display_pid != KERNEL_PID_UNDEF) {
msg_t m;
m.type = 0;
m.content.ptr = NULL;
msg_send_int(&m, display_pid);
}
#if ENABLE_WS2812
if ((new_button_state & 0x8) != (button_state & 0x8) &&
ws2812_pid != KERNEL_PID_UNDEF) {
msg_t m;
m.type = WS2812_BUTTON_STATE;
m.content.value = new_button_state & 0x8;
msg_send_int(&m, ws2812_pid);
}
#endif
button_state = new_button_state;
}
#endif
xtimer_usleep(100000/2);
// printf("tick\n");
thread_yield();
}
return 0;
}
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