Diff: main.cpp

Revision:

0:7b8f377e2077

Child:

1:2bc2848b78d1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Apr 23 07:51:03 2021 +0000
@@ -0,0 +1,108 @@
+/*
+TRANSFER_SIZE = 24
+id_robot, vx, vy, angle_robot, vangulaire, v_tir, cmd_rouleau 
+*/
+
+#include "mbed.h"
+#include "MX12.h"
+#include <iostream>
+#include "stm32l475e_iot01_magneto.h"
+#include "Projet.h"
+#include "nRF24L01P.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+nRF24L01P my_nrf24l01p(D11, D12, D13, D9, D10, D8);    // mosi, miso, sck, csn, ce, irq
+
+DigitalOut myled2(LED2);
+
+DigitalOut led(LED1);
+MX12 mx (PC_4, PC_5,115200);
+
+int main()
+{
+    
+// Nombre de caractères transmis à chaque envoi
+#define TRANSFER_SIZE   24
+
+    char txData[TRANSFER_SIZE]= {};
+    char rxData[TRANSFER_SIZE+1]= {};
+    char caractere_recu=0;
+    int txDataCnt = 0;
+    int rxDataCnt = 0;
+    int statut_nrF;
+    int id_robot, vx, vy, angle_robot, vangulaire, v_tir, cmd_rouleau;
+    int consigneData[6];
+
+    pc.baud(115200); // Débit de la liaison série PC
+    
+    my_nrf24l01p.powerUp();
+
+    my_nrf24l01p.setRfFrequency(2414);
+    my_nrf24l01p.setRxAddress(0xA1A1A1A1A1);
+    my_nrf24l01p.setTxAddress(0xB1A1A1A1A1);
+    my_nrf24l01p.setAirDataRate(NRF24L01P_DATARATE_1_MBPS);
+
+    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
+    my_nrf24l01p.setRfOutputPower(-6);
+    
+    pc.printf("DISCO\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() );
+
+
+    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
+    my_nrf24l01p.setReceiveMode();
+    my_nrf24l01p.enable();
+    pc.printf("Pret a recevoir, led2 ON\n\r");
+    myled2=!myled2;
+
+    while(1) {
+        
+    // RECEPTION DE DONNEES ------------------------------------------------------------------
+        
+        for(int k=0;k<10000000;k++);
+        statut_nrF=my_nrf24l01p.readable(NRF24L01P_PIPE_P0);
+        
+        if ( statut_nrF != 0) {
+            
+            myled2 = !myled2;
+            pc.printf( "Reception\n\r");
+ 
+            rxDataCnt = my_nrf24l01p.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE );
+            
+            //Traitement donnees--------------------------------
+            
+            if(sscanf(rxData, "%d,%d,%d,%d,%d,%d,%d",&id_robot,&vx,&vy,&angle_robot,&vangulaire,&v_tir,&cmd_rouleau)==7){ // lecture et parsing de la chaîne
+            pc.printf("Valeur de id_robot : %d \r\n",id_robot);
+            pc.printf("Valeur de vx : %d \r\n",vx);
+            pc.printf("Valeur de vy : %d \r\n",vy);
+            pc.printf("Valeur de angle_robot : %d \r\n",angle_robot);
+            pc.printf("Valeur de vangulaire : %d \r\n",vangulaire);
+            pc.printf("Valeur de v_tir : %d \r\n",v_tir); 
+            pc.printf("Valeur de commande_rouleau : %d \r\n",cmd_rouleau); 
+            }
+            
+            else {pc.printf(rxData);}
+            
+            consigneData[0] = id_robot;
+            consigneData[1] = vx;
+            consigneData[2] = vy;
+            consigneData[3] = angle_robot;
+            consigneData[4] = vangulaire;
+            consigneData[5] = v_tir;
+            consigneData[6] = cmd_rouleau;
+            
+
+            pc.printf(rxData);
+            pc.printf( "   Taille %d\r\n",rxDataCnt);
+
+        led = 1;
+        cmd_inverse(vx,vy,vangulaire,angle_robot,&mx);
+
+        }
+    }
+}
\ No newline at end of file