main.cpp

00001 #include "mbed.h"
00002 #include "nRF24L01P.h"
00003 
00004 #define BUFFER_SIZE (sizeof(int)*4 + sizeof(float)*3)
00005 #define BAUDR 115200
00006 
00007 #define SAVING_START 'S'
00008 #define SAVING_STOP 'E'
00009 #define TRANSFER_START 'T'
00010 #define CHECK_READY 'R'
00011 #define SEND_ACK 'A'
00012 
00013 #define NACK 'N'
00014 #define ACK 'A'
00015 
00016 Serial pc(USBTX, USBRX);
00017 nRF24L01P rf(p5, p6, p7, p8, p9);
00018 //nRF24L01P rf(p11, p12, p13, p14, p15);
00019 DigitalOut led(LED1);
00020 
00021 
00022 void send_ack()
00023 {
00024     char buffer[BUFFER_SIZE];
00025     buffer[0] = 0x00;
00026     buffer[1] = SEND_ACK;
00027     
00028     rf.write(NRF24L01P_PIPE_P0, buffer, BUFFER_SIZE);    
00029 }
00030 
00031 void check_ack()
00032 {
00033     char buffer[BUFFER_SIZE];
00034     wait_ms(10);
00035     if (!rf.readable()) { 
00036         printf("#%c\n", NACK);
00037         return;
00038     }
00039 
00040     rf.read(NRF24L01P_PIPE_P0, buffer, BUFFER_SIZE);
00041     if (buffer[0] != 0x00 || buffer[1] != SEND_ACK)
00042         printf("#%c\n", NACK);
00043     
00044     printf("#%c\n", ACK);
00045 }
00046 
00047 int send_cmd(void)
00048 {
00049     char buffer[BUFFER_SIZE];
00050     char c;
00051     static char last = 0;
00052     
00053     c = pc.getc();
00054     if (c != '#' && last != 1)
00055         return -1;
00056     if (c == '#') {
00057         last = 1;
00058         return 0;    
00059     }
00060     
00061     last = 0;
00062 
00063     buffer[0] = 0x00;
00064     buffer[1] = c;
00065     rf.write(NRF24L01P_PIPE_P0, buffer, BUFFER_SIZE);
00066     check_ack();
00067     return 0;
00068 }
00069 
00070 void communication(void)
00071 {
00072     char rxBuf[BUFFER_SIZE+1];
00073     int bytes;
00074     int counter, acc_x, acc_y, acc_z;
00075     float gyro_x, gyro_y, gyro_z;
00076     
00077     printf("\n\nReceiving data\n\r");
00078     while(1) {
00079         if (pc.readable())
00080             send_cmd();
00081 
00082         bytes = rf.read(NRF24L01P_PIPE_P0, rxBuf, BUFFER_SIZE);
00083         if (bytes <= 0)
00084             continue;
00085 
00086         //send_ack();
00087 
00088         counter = *((int *) rxBuf);
00089         acc_x = *((int *) &rxBuf[sizeof(int)]);
00090         acc_y = *((int *) &rxBuf[sizeof(int)*2]);
00091         acc_z = *((int *) &rxBuf[sizeof(int)*3]);
00092         gyro_x = *((float *) &rxBuf[sizeof(int)*4]);
00093         gyro_y = *((float *) &rxBuf[sizeof(int)*4 + sizeof(float)]);
00094         gyro_z = *((float *) &rxBuf[sizeof(int)*4 + sizeof(float)*2]);
00095         
00096         /* transmission start */
00097         if (counter == -1 && acc_x >= 0) {
00098             printf("Swimmer id: %d\n", acc_x);
00099             continue;
00100         }
00101         if (counter == -1 && acc_x == -1) {
00102             printf("End of DATA\n");
00103             continue;    
00104         }
00105         printf("%d %d %d %d %f %f %f\n", counter, acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z);
00106     }
00107 }
00108 
00109 int main(void)
00110 {
00111     pc.baud(BAUDR);
00112     
00113     rf.setTransferSize(BUFFER_SIZE);
00114     rf.setRfOutputPower(NRF24L01P_TX_PWR_ZERO_DB);
00115     rf.setAirDataRate(NRF24L01P_DATARATE_2_MBPS);
00116     rf.setReceiveMode();
00117     rf.enable();
00118     
00119     printf("Freq: %d MHz\n\r", rf.getRfFrequency());
00120     printf("Power: %d dBm\n\r", rf.getRfOutputPower());
00121     printf("TX Address: %llu\n\r", rf.getTxAddress());
00122     printf("RX Address: %llu\n\r", rf.getRxAddress());
00123     
00124     communication();
00125 }