IOGS_France / Mbed OS IeTI_nRF24

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Dependencies:   MOD24_NRF nRF24

Files at this revision

API Documentation at this revision

Revision 1:b96e529849d1, committed 2021-12-14

Comitter:
villemejane
Date:
Tue Dec 14 15:03:53 2021 +0000
Parent:
0:4762540bcced
Child:
2:68d03c147aff
Commit message:
nRF24 L01 - RF communication module

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
nRF24.lib Show annotated file Show diff for this revision Revisions of this file
rplidar.lib Show annotated file Show diff for this revision Revisions of this file
voiture_auto.cpp Show annotated file Show diff for this revision Revisions of this file
voiture_auto.h Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Sep 23 12:33:38 2021 +0000
+++ b/main.cpp	Tue Dec 14 15:03:53 2021 +0000
@@ -10,56 +10,17 @@
 /****************************************************************************/
 
 #include "mbed.h"
+#include "voiture_auto.h"
+#include "rplidar.h"
 #include "MOD24_NRF.h"
-#define TRANSFER_SIZE   8
-
-nRF24L01P       my_mod(PC_12, PC_11, PC_10, PH_1, PH_0, PD_2);
-// MOSI, MISO, SCK, CSN, CE, IRQ
-
-Serial          pc(USBTX, USBRX);
-DigitalIn       my_bp(USER_BUTTON);
-
-char k;
-char    dataToSend[TRANSFER_SIZE] = {0xAA, 0x01, 0x10, 0xF0,0xAA, 0x01, 0x10, 0xF0};
-char    dataReceived[TRANSFER_SIZE] = {0};
-char    rxDataCnt;
+#include "nRF24.h"
 
 int main() {
-    pc.printf("Test\r\n");
-    my_mod.setRfFrequency(2400);
-    wait_ms(100);
-    my_mod.powerUp();
-    
-    // Display the (default) setup of the nRF24L01+ chip
-    pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  my_mod.getRfFrequency() );
-    pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  my_mod.getRfOutputPower() );
-    pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", my_mod.getAirDataRate() );
-
-    pc.printf( "Transfers are grouped into %d characters\r\n", TRANSFER_SIZE );
-
-    my_mod.setTransferSize( TRANSFER_SIZE );
-
-    my_mod.setReceiveMode();
-    my_mod.enable();
+    debug_pc.printf("Test\r\n");
+    initVoiture();
+    initNRF24();
     
     while(1) {
-        if ( my_mod.readable() ) {
-
-            // ...read the data into the receive buffer
-            rxDataCnt = my_mod.read( NRF24L01P_PIPE_P0, dataReceived, TRANSFER_SIZE);
-
-            // Display the receive buffer contents via the host serial link
-            pc.printf("\tD = ");
-            for ( int i = 0; i < rxDataCnt; i++ ) {
-                pc.printf(" %x \t", dataReceived[i]);
-            }
-            pc.printf("\r\n");
-        }   
-        if(my_bp == 0){
-            my_mod.setRfFrequency(2400);
-            my_mod.write( NRF24L01P_PIPE_P0, dataToSend, TRANSFER_SIZE );
-            pc.printf( "SENDED\r\n");
-            wait_ms(100);
-        }         
+        testNRF24();
     }
 }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nRF24.lib	Tue Dec 14 15:03:53 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/IOGS_France/code/nRF24/#659c6ffdd56c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rplidar.lib	Tue Dec 14 15:03:53 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/IOGS_France/code/rplidar/#9803ade33ac3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/voiture_auto.cpp	Tue Dec 14 15:03:53 2021 +0000
@@ -0,0 +1,104 @@
+/****************************************************************************/
+/*  Autonomous Vehicle / based on RC vehicle Lancia Delta                   */
+/****************************************************************************/
+/*  LEnsE / Julien VILLEMEJANE       /   Institut d'Optique Graduate School */
+/****************************************************************************/
+/*  Library - voiture_auto.cpp file                                         */
+/****************************************************************************/
+/*  Tested on Nucleo-L476RG / 4th nov 2021                                  */
+/****************************************************************************/
+
+#include    "mbed.h"
+#include    "voiture_auto.h"
+
+/* Entrées - Sorties */
+// Chassis
+PwmOut      direction(PB_13);    // Servomoteur de direction
+PwmOut      moteur(PC_9);        // Motorisation / ESC
+AnalogIn    pot_dir(PC_5);
+// Capteurs
+AnalogIn    capt1(PC_2);
+AnalogIn    capt2(PC_3);
+AnalogIn    capt3(PC_0);
+AnalogIn    capt4(PC_1);
+AnalogIn    capt5(PB_0);
+AnalogIn    capt6(PA_4);
+
+/* Variables globales */
+int angle_roues, vitesse;
+char data = 'd';
+float distance_c[6] = {0};
+
+/* Initialisation de la voiture */
+void initVoiture(void){
+    // Initialisation moteur et direction
+    direction.period_ms(20);        //période de réception du servomoteur
+    direction.pulsewidth_us(1300);  //première commande du servomoteur -> tout droit
+    moteur.period_ms(20);           //période de réception du moteur
+    moteur.pulsewidth_us(1500);     // 1500 -> point mort
+    wait_us(2000000);
+}
+
+/* Test Direction */
+void testDirection(void){
+    for(angle_roues = 1100; angle_roues < 1500; angle_roues+=10){
+        direction.pulsewidth_us(angle_roues);  
+        wait_us(100000);
+    }
+    angle_roues = 1300;
+    direction.pulsewidth_us(angle_roues);
+}
+
+/* Réglage Direction */
+void setDirection(void){
+    // TO DO
+}
+
+/* Test Vitesse */
+void testVitesse(void){
+    // Marche Avant progressive
+    for(vitesse = 1500; vitesse < 1600; vitesse+=10){
+        moteur.pulsewidth_us(vitesse);  
+        wait_us(100000);
+    }
+    wait_us(1000000);
+    // Arrêt
+    vitesse = 1500;
+    moteur.pulsewidth_us(vitesse); 
+    wait_us(100000);
+    // Marche arrière - insdispensable / voir régulateur vitesse
+    vitesse = 1400;
+    moteur.pulsewidth_us(vitesse); 
+    wait_us(100000);
+    // Arrêt - insdispensable
+    vitesse = 1500;
+    moteur.pulsewidth_us(vitesse); 
+    wait_us(100000);
+    // Marche arrière progressive
+    for(vitesse = 1500; vitesse > 1400; vitesse-=10){
+        moteur.pulsewidth_us(vitesse);  
+        wait_us(100000);
+    } 
+    wait_us(1000000);    
+    // Arrêt
+    vitesse = 1500;
+    moteur.pulsewidth_us(vitesse); 
+}
+
+/* Récupération des données des capteurs */
+void collectData(void){
+    distance_c[0] = capt1.read()*3.3;
+    distance_c[1] = capt2.read()*3.3;
+    distance_c[2] = capt3.read()*3.3;
+    distance_c[3] = capt4.read()*3.3;
+    distance_c[4] = capt5.read()*3.3;
+    distance_c[5] = capt6.read()*3.3;
+}
+
+/* Affichage des données des capteurs */
+void printData(void){
+    for(int i = 0; i < 6; i++){
+        debug_pc.printf("\tD%d = %lf\r\n", i, distance_c[i]);
+    }
+    debug_pc.printf("\r\n");
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/voiture_auto.h	Tue Dec 14 15:03:53 2021 +0000
@@ -0,0 +1,52 @@
+/****************************************************************************/
+/*  Autonomous Vehicle / based on RC vehicle Lancia Delta                   */
+/****************************************************************************/
+/*  LEnsE / Julien VILLEMEJANE       /   Institut d'Optique Graduate School */
+/****************************************************************************/
+/*  Library - voiture_auto.h file                                           */
+/****************************************************************************/
+/*  Tested on Nucleo-L476RG / 4th nov 2021                                  */
+/****************************************************************************/
+
+#ifndef     VOITURE_AUTO_H_INCLUDED
+#define     VOITURE_AUTO_H_INCLUDED
+
+#include    "mbed.h"
+
+/* Entrées - Sorties */
+// Debuggage
+extern  DigitalOut  debug_out;
+extern  Serial      debug_pc;
+extern  InterruptIn bp_int;
+// Chassis
+extern  PwmOut      direction;    // Servomoteur de direction
+extern  PwmOut      moteur;        // Motorisation / ESC
+extern  AnalogIn    pot_dir;
+// Capteurs
+extern  AnalogIn    capt1;
+extern  AnalogIn    capt2;
+extern  AnalogIn    capt3;
+extern  AnalogIn    capt4;
+extern  AnalogIn    capt5;
+extern  AnalogIn    capt6;
+
+
+/* Variables globales */
+extern  int angle_roues, vitesse;
+extern  char data;
+extern  float distance_c[6];
+
+/* Initialisation de la voiture */
+void initVoiture(void);
+/* Test Direction */
+void testDirection(void);
+/* Test Vitesse */
+void testVitesse(void);
+/* Réglage Direction */
+void setDirection(void);    // A faire sur nouvelle carte avec potentiomètre
+/* Fonction de récupération des données */
+void collectData(void);
+/* Affichage des données des capteurs */
+void printData(void);
+
+#endif
\ No newline at end of file