Diff: main.cpp

Revision:

2:4704fdd9ef91

Parent:

1:5be2682710c6

Child:

3:46535ec6d8b1

--- a/main.cpp	Wed Jan 19 23:53:19 2011 +0000
+++ b/main.cpp	Sun Dec 24 03:12:05 2017 +0000
@@ -1,75 +1,87 @@
 #include "mbed.h"
 #include "nRF24L01P.h"
+#define TRANSFER_SIZE   12
+#define Send_Repeat_Times 10//命令重发次数
+#define command_roll 0x51
+#define command_start 0x50
+#define command_end 0x52
+#define command_slow 0x53
 
-Serial pc(USBTX, USBRX); // tx, rx
+int flag=0;//发送状态标志 0：发送姿态命令 1：发送启动命令 2：发送急停命令 3：发送缓降命令
+char txdata[TRANSFER_SIZE];
+
+nRF24L01P my_nrf24l01p(PB_15, PB_14, PB_13, PB_6, PB_5, PB_7);    // mosi, miso, sck, csn, ce, irq
 
-nRF24L01P my_nrf24l01p(p5, p6, p7, p8, p9, p10);    // mosi, miso, sck, csn, ce, irq
+DigitalOut myled1(PA_6);
+DigitalOut myled2(PA_7);
 
-DigitalOut myled1(LED1);
-DigitalOut myled2(LED2);
+//DigitalIn sz_n(PB_10),sz_p(PA_5),sx_p(PB_0),sx_n(PB_1),sy_p(PB_3),sy_n(PB_4);
+AnalogIn L_X(PA_0),L_Y(PA_1),R_X(PA_2),R_Y(PA_3);
+InterruptIn START(PB_4),END(PB_3),SLOW(PB_0);
+Serial pc(PA_9,PA_10,9600);
+
+void start(){flag=1;}
+void end(){flag=2;}
+void slow(){flag = 3;}
 
 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
-
-    char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
-    int txDataCnt = 0;
-    int rxDataCnt = 0;
-
+    for(int i=0;i!=TRANSFER_SIZE;i++)
+        txdata[i] = 0;   
     my_nrf24l01p.powerUp();
-
-    // Display the (default) setup of the nRF24L01+ chip
-    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( "Type keys to test transfers:\r\n  (transfers are grouped into %d characters)\r\n", TRANSFER_SIZE );
-
     my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
-
     my_nrf24l01p.setReceiveMode();
     my_nrf24l01p.enable();
-
+    
+    myled1 = 0;
+    myled2 = 0;
+    
+    START.mode(PullDown);
+    END.mode(PullDown);
+    SLOW.mode(PullDown);
+    START.rise(&start);
+    END.rise(&end);
+    SLOW.rise(&slow);
     while (1) {
-
-        // If we've received anything over the host serial link...
-        if ( pc.readable() ) {
-
-            // ...add it to the transmit buffer
-            txData[txDataCnt++] = pc.getc();
-
-            // If the transmit buffer is full
-            if ( txDataCnt >= sizeof( txData ) ) {
-
-                // Send the transmitbuffer via the nRF24L01+
-                my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, txDataCnt );
-
-                txDataCnt = 0;
-            }
-
-            // Toggle LED1 (to help debug Host -> nRF24L01+ communication)
-            myled1 = !myled1;
+         switch (flag)
+        {
+            case 0:
+                txdata[0]= command_roll;    
+                short int data[4];
+                data[0] = L_X.read_u16();
+                data[1] = L_Y.read_u16();
+                data[2] = R_X.read_u16();
+                data[3] = R_Y.read_u16();
+                txdata[2] = data[0];
+                txdata[1] = data[0] >> 8;
+                txdata[4] = data[1];
+                txdata[3] = data[1] >> 8;
+                txdata[6] = data[2];
+                txdata[5] = data[2] >> 8;
+                txdata[8] = data[3];
+                txdata[7] = data[3] >> 8;
+                txdata[9] = 0;
+                txdata[10] = 0;
+                txdata[11] = 0;    
+                my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12);
+            break;        
+            case 1:
+                txdata[0] = command_start;
+                for(int i=0;i<Send_Repeat_Times;i++) {my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12); wait(0.01);}
+                flag = 0;
+            break;
+            case 2:
+                txdata[0] = command_end;
+                for(int i=0;i<Send_Repeat_Times;i++) {my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12); wait(0.01);}
+                flag = 0;
+            break;
+            case 3:
+                txdata[0] = command_slow;
+                for(int i=0;i<Send_Repeat_Times;i++) {my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12); wait(0.01);}
+                flag = 0;
+            break;      
         }
-
-        // 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;
-        }
+        wait(0.05);//防止过快发送造成命令无法被接收     
     }
 }
+
+