Hawk Eye / Mbed 2 deprecated ROVReceiver

Receiver for rc ROV

Dependencies:   mbed nRF24L01P

main.cpp@0:a8a417d50cc7, 2018-08-28 (annotated)

Committer:
spin7ion
Date:
Tue Aug 28 16:57:47 2018 +0000
Revision:
0:a8a417d50cc7
Child:
1:e11cc38ef502
Initial commit with telem

Who changed what in which revision?

UserRevisionLine numberNew contents of line
spin7ion 0:a8a417d50cc7 1 #include "mbed.h"
spin7ion 0:a8a417d50cc7 2 #include "nRF24L01P.h"
spin7ion 0:a8a417d50cc7 3
spin7ion 0:a8a417d50cc7 4 #define CHANNELS_NUMBER 12
spin7ion 0:a8a417d50cc7 5 #define CMD_VALUE 65535
spin7ion 0:a8a417d50cc7 6 #define CMD_GET_STATUS 1
spin7ion 0:a8a417d50cc7 7 //DigitalOut myled(LED1);
spin7ion 0:a8a417d50cc7 8
spin7ion 0:a8a417d50cc7 9
spin7ion 0:a8a417d50cc7 10 #define SERVO_MAX 2500
spin7ion 0:a8a417d50cc7 11 #define SERVO_MIN 800
spin7ion 0:a8a417d50cc7 12 #define SERVO_CENTER SERVO_MAX-SERVO_MIN
spin7ion 0:a8a417d50cc7 13
spin7ion 0:a8a417d50cc7 14 Serial pc(USBTX, USBRX); // tx, rx
spin7ion 0:a8a417d50cc7 15
spin7ion 0:a8a417d50cc7 16 nRF24L01P radio(D11, D12, D13, D10, D9, D8); // mosi, miso, sck, csn, ce, irq
spin7ion 0:a8a417d50cc7 17
spin7ion 0:a8a417d50cc7 18 uint16_t channels[CHANNELS_NUMBER];
spin7ion 0:a8a417d50cc7 19 uint16_t buffer [CHANNELS_NUMBER];
spin7ion 0:a8a417d50cc7 20
spin7ion 0:a8a417d50cc7 21 //PwmOut v_servo(PTC2);
spin7ion 0:a8a417d50cc7 22
spin7ion 0:a8a417d50cc7 23 void zeroBuffer(){
spin7ion 0:a8a417d50cc7 24 memset(buffer, 0, sizeof(buffer));
spin7ion 0:a8a417d50cc7 25 }
spin7ion 0:a8a417d50cc7 26
spin7ion 0:a8a417d50cc7 27 int main() {
spin7ion 0:a8a417d50cc7 28 //v_servo.period_us(20000); // servo requires a 20ms period
spin7ion 0:a8a417d50cc7 29 //v_servo.pulsewidth_us(SERVO_CENTER);
spin7ion 0:a8a417d50cc7 30 //v_servo.pulsewidth_us(pulse); // servo position determined by a pulsewidth between 1-2ms
spin7ion 0:a8a417d50cc7 31
spin7ion 0:a8a417d50cc7 32 radio.powerUp();
spin7ion 0:a8a417d50cc7 33 pc.baud(115200);
spin7ion 0:a8a417d50cc7 34 pc.printf("We all live in a yellow submarine!\r\n");
spin7ion 0:a8a417d50cc7 35
spin7ion 0:a8a417d50cc7 36 radio.setRxAddress(0xDEADBEEF0F);
spin7ion 0:a8a417d50cc7 37 radio.setTxAddress(0xDEADC0DE0F);
spin7ion 0:a8a417d50cc7 38 radio.setRfFrequency(2405);
spin7ion 0:a8a417d50cc7 39 radio.powerUp();
spin7ion 0:a8a417d50cc7 40
spin7ion 0:a8a417d50cc7 41 pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", radio.getRfFrequency() );
spin7ion 0:a8a417d50cc7 42 pc.printf( "nRF24L01+ Output power : %d dBm\r\n", radio.getRfOutputPower() );
spin7ion 0:a8a417d50cc7 43 pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", radio.getAirDataRate() );
spin7ion 0:a8a417d50cc7 44 pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", radio.getTxAddress() );
spin7ion 0:a8a417d50cc7 45 pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", radio.getRxAddress() );
spin7ion 0:a8a417d50cc7 46
spin7ion 0:a8a417d50cc7 47 radio.setTransferSize( CHANNELS_NUMBER*sizeof(uint16_t) );
spin7ion 0:a8a417d50cc7 48
spin7ion 0:a8a417d50cc7 49 radio.setReceiveMode();
spin7ion 0:a8a417d50cc7 50
spin7ion 0:a8a417d50cc7 51 radio.enable();
spin7ion 0:a8a417d50cc7 52
spin7ion 0:a8a417d50cc7 53 pc.printf("Greetings, capitain!\r\n");
spin7ion 0:a8a417d50cc7 54
spin7ion 0:a8a417d50cc7 55 while (1)
spin7ion 0:a8a417d50cc7 56 {
spin7ion 0:a8a417d50cc7 57 while( !radio.readable() );
spin7ion 0:a8a417d50cc7 58 {
spin7ion 0:a8a417d50cc7 59 int rxDataCnt = radio.read( NRF24L01P_PIPE_P0, (char*)buffer, sizeof( buffer ) );
spin7ion 0:a8a417d50cc7 60
spin7ion 0:a8a417d50cc7 61 if (buffer[0] == CMD_VALUE) {
spin7ion 0:a8a417d50cc7 62 pc.printf("Command: %d\r\n", buffer[1]);
spin7ion 0:a8a417d50cc7 63 switch(buffer[1]){
spin7ion 0:a8a417d50cc7 64 case CMD_GET_STATUS:
spin7ion 0:a8a417d50cc7 65 zeroBuffer();
spin7ion 0:a8a417d50cc7 66 strcpy((char*)buffer,"I'm alive");
spin7ion 0:a8a417d50cc7 67 radio.setTransmitMode();
spin7ion 0:a8a417d50cc7 68 //wait(0.1);
spin7ion 0:a8a417d50cc7 69 int bytesWritten = radio.write( NRF24L01P_PIPE_P0, (char*)buffer, sizeof( buffer ) );
spin7ion 0:a8a417d50cc7 70 if (bytesWritten<2*CHANNELS_NUMBER){
spin7ion 0:a8a417d50cc7 71 pc.printf("Transmit error\r\n");
spin7ion 0:a8a417d50cc7 72 } else {
spin7ion 0:a8a417d50cc7 73 pc.printf("Sent telemetry: %s\r\n",(char*)buffer);
spin7ion 0:a8a417d50cc7 74 }
spin7ion 0:a8a417d50cc7 75 radio.setReceiveMode();
spin7ion 0:a8a417d50cc7 76 //wait(0.1);
spin7ion 0:a8a417d50cc7 77 break;
spin7ion 0:a8a417d50cc7 78 }
spin7ion 0:a8a417d50cc7 79 } else {
spin7ion 0:a8a417d50cc7 80 for(int i=0; i<CHANNELS_NUMBER; i++){
spin7ion 0:a8a417d50cc7 81 channels[i] = buffer[i];
spin7ion 0:a8a417d50cc7 82 }
spin7ion 0:a8a417d50cc7 83 pc.printf("received channels: %d %d %d %d\n\r", channels[0],channels[1],channels[2],channels[3]);
spin7ion 0:a8a417d50cc7 84 }
spin7ion 0:a8a417d50cc7 85 }
spin7ion 0:a8a417d50cc7 86 }
spin7ion 0:a8a417d50cc7 87
spin7ion 0:a8a417d50cc7 88 }