RobOmega - PSL RoboCup
/
Master_comm
Diff: main.cpp
- Revision:
- 3:d59225786982
- Parent:
- 2:b57a1cf4d5a7
- Child:
- 4:50108ed2e507
--- a/main.cpp Fri Dec 04 07:35:46 2020 +0000 +++ b/main.cpp Fri Dec 11 07:00:23 2020 +0000 @@ -1,75 +1,87 @@ #include "mbed.h" #include "nRF24L01P.h" +#define SPI2_MOSI PD_4 +#define SPI2_MISO PD_3 +#define SPI2_SCLK PD_1 +#define CSN D9 +#define CE D8 +#define IRQ D1 + Serial pc(USBTX, USBRX); // tx, rx -nRF24L01P my_nrf24l01p(PD_4, PD_3, PD_1, D9, D8, D1); // mosi, miso, sck, csn, ce, irq +nRF24L01P my_nrf24l01p(SPI2_MOSI, SPI2_MISO, SPI2_SCLK, CSN, CE, IRQ); // mosi, miso, sck, csn, ce, irq DigitalOut myled1(LED1); DigitalOut myled2(LED2); -int main() { - +int main() +{ // The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's // "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019) // only handles 4 byte transfers in the ATMega code. -#define TRANSFER_SIZE 4 +#define TRANSFER_SIZE 4 - char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE]; + char txData[TRANSFER_SIZE]; int txDataCnt = 0; - int rxDataCnt = 0; my_nrf24l01p.powerUp(); // Display the (default) setup of the nRF24L01+ chip + pc.printf("Default setup : \r\n"); pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", my_nrf24l01p.getRfFrequency() ); pc.printf( "nRF24L01+ Output power : %d dBm\r\n", my_nrf24l01p.getRfOutputPower() ); pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", my_nrf24l01p.getAirDataRate() ); pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() ); pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() ); + pc.printf("\r\n\r\n"); - pc.printf( "Type keys to test transfers:\r\n (transfers are grouped into %d characters)\r\n", TRANSFER_SIZE ); + my_nrf24l01p.setRfFrequency(NRF24L01P_MIN_RF_FREQUENCY); + my_nrf24l01p.setAirDataRate(NRF24L01P_DATARATE_2_MBPS); + my_nrf24l01p.setTxAddress(0xFFA); + my_nrf24l01p.setRxAddress(0xFFE); + + pc.printf("Custom setup : \r\n"); + pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", my_nrf24l01p.getRfFrequency() ); + pc.printf( "nRF24L01+ Output power : %d dBm\r\n", my_nrf24l01p.getRfOutputPower() ); + pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", my_nrf24l01p.getAirDataRate() ); + pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() ); + pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() ); + pc.printf("\r\n\r\n"); + + + pc.printf( "Spamming routine enabled !\r\n"); my_nrf24l01p.setTransferSize( TRANSFER_SIZE ); - my_nrf24l01p.setReceiveMode(); + my_nrf24l01p.setTransmitMode(); my_nrf24l01p.enable(); - while (1) { + while (1) + { + //Send "Hello PC" to the PC board + int i = 0; + char data[] = "Hello PC !\r\n"; + int dataSize = 16; - // If we've received anything over the host serial link... - if ( pc.readable() ) { - - // ...add it to the transmit buffer - txData[txDataCnt++] = pc.getc(); + // add datas to the transmit buffer + txData[txDataCnt++] = data[i++]; - // If the transmit buffer is full - if ( txDataCnt >= sizeof( txData ) ) { - - // Send the transmitbuffer via the nRF24L01+ - my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, txDataCnt ); + if (i >= dataSize) + { + i = 0; - txDataCnt = 0; - } + } + // If the transmit buffer is full + if ( txDataCnt >= sizeof( txData ) ) { - // Toggle LED1 (to help debug Host -> nRF24L01+ communication) - myled1 = !myled1; + // Send the transmitbuffer via the nRF24L01+ + my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, txDataCnt ); + + txDataCnt = 0; } - // If we've received anything in the nRF24L01+... - if ( my_nrf24l01p.readable() ) { - - // ...read the data into the receive buffer - rxDataCnt = my_nrf24l01p.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) ); - - // Display the receive buffer contents via the host serial link - for ( int i = 0; rxDataCnt > 0; rxDataCnt--, i++ ) { - - pc.putc( rxData[i] ); - } - - // Toggle LED2 (to help debug nRF24L01+ -> Host communication) - myled2 = !myled2; - } + // Toggle LED1 (to help debug Host -> nRF24L01+ communication) + myled1 = !myled1; } }