Qian Yuyang / Mbed 2 deprecated Fly_test

NRF+MPU6050

Dependencies:   mbed nRF24L01P

main.cpp@4:1b985e622d26, 2019-03-20 (annotated)

Committer:
AlexQian
Date:
Wed Mar 20 10:44:31 2019 +0000
Revision:
4:1b985e622d26
Parent:
3:46535ec6d8b1 
Fly_test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AlexQian 3:46535ec6d8b1 1 #define HIGH 1
AlexQian 3:46535ec6d8b1 2 #define LOW 0
Owen 0:a51a6e7da590 3 #include "mbed.h"
AlexQian 3:46535ec6d8b1 4 #include <string>
AlexQian 3:46535ec6d8b1 5 typedef bool boolean;
AlexQian 3:46535ec6d8b1 6 typedef std::string String;
AlexQian 4:1b985e622d26 7 #include "nRF24L01P.h"
AlexQian 4:1b985e622d26 8 #include "MPU6050.h"
Owen 0:a51a6e7da590 9
AlexQian 3:46535ec6d8b1 10 char rxdata[12] ;
AlexQian 4:1b985e622d26 11 float Yaw;
AlexQian 4:1b985e622d26 12 float Pitch;
AlexQian 4:1b985e622d26 13 float Roll;
AlexQian 4:1b985e622d26 14 int Power;
AlexQian 3:46535ec6d8b1 15 int Yaw_t;
AlexQian 3:46535ec6d8b1 16 int Pitch_t;
AlexQian 3:46535ec6d8b1 17 int Roll_t;
AlexQian 3:46535ec6d8b1 18 long CycleCount;
AlexQian 3:46535ec6d8b1 19 long ReceiveCount;
Owen 0:a51a6e7da590 20
AlexQian 3:46535ec6d8b1 21 #define NRF24_TRANSFER_SIZE 12
AlexQian 3:46535ec6d8b1 22 nRF24L01P nrf24_PB_15(PB_15,PB_14,PB_13,PB_6,PB_5,PB_7);
AlexQian 4:1b985e622d26 23 Serial Serial_2(PA_2,PA_3);
AlexQian 4:1b985e622d26 24 mpu6050 mpu6050_I2C_1(PB_9,PB_8);
AlexQian 3:46535ec6d8b1 25 DigitalOut myDigitalOutPA_7(PA_7);
AlexQian 3:46535ec6d8b1 26 DigitalOut myDigitalOutPA_6(PA_6);
AlexQian 4:1b985e622d26 27
Owen 0:a51a6e7da590 28 int main() {
AlexQian 3:46535ec6d8b1 29 nrf24_PB_15.powerUp();
AlexQian 3:46535ec6d8b1 30 nrf24_PB_15.setTransferSize( NRF24_TRANSFER_SIZE );
AlexQian 3:46535ec6d8b1 31 nrf24_PB_15.setReceiveMode();
AlexQian 3:46535ec6d8b1 32 nrf24_PB_15.setRxAddress(12345ull);
AlexQian 3:46535ec6d8b1 33 nrf24_PB_15.setTxAddress(12345ull);
AlexQian 3:46535ec6d8b1 34 nrf24_PB_15.enable();
AlexQian 3:46535ec6d8b1 35
AlexQian 4:1b985e622d26 36 Serial_2.baud(9600);
AlexQian 3:46535ec6d8b1 37
AlexQian 4:1b985e622d26 38 mpu6050_I2C_1.Init();
AlexQian 3:46535ec6d8b1 39
AlexQian 3:46535ec6d8b1 40 CycleCount = 0;
AlexQian 3:46535ec6d8b1 41 ReceiveCount = 0;
AlexQian 3:46535ec6d8b1 42 while (true) {
AlexQian 3:46535ec6d8b1 43 CycleCount = CycleCount + 1;
AlexQian 4:1b985e622d26 44 mpu6050_I2C_1.receiveData(&Yaw,&Pitch,&Roll);
AlexQian 4:1b985e622d26 45 Serial_2.printf("Yaw=%.2f, Pitch=%.2f, Roll=%.2f \n",Yaw,Pitch,Roll);
AlexQian 3:46535ec6d8b1 46 if (nrf24_PB_15.readable()) {
AlexQian 3:46535ec6d8b1 47 ReceiveCount = ReceiveCount + 1;
AlexQian 3:46535ec6d8b1 48 myDigitalOutPA_7.write((ReceiveCount % 2 == 0));
AlexQian 3:46535ec6d8b1 49 nrf24_PB_15.read( NRF24L01P_PIPE_P0, rxdata, NRF24_TRANSFER_SIZE);
AlexQian 3:46535ec6d8b1 50 if (rxdata[0] == 82) {
AlexQian 4:1b985e622d26 51 Power = rxdata[1];
AlexQian 3:46535ec6d8b1 52 Yaw_t = rxdata[2] - 45;
AlexQian 3:46535ec6d8b1 53 Pitch_t = rxdata[3] - 45;
AlexQian 3:46535ec6d8b1 54 Roll_t = rxdata[4] - 45;
AlexQian 4:1b985e622d26 55 Serial_2.printf("Power=%d, Yaw=%d, Pitch=%d, Roll=%d \n",Power,Yaw_t,Pitch_t,Roll_t);
AlexQian 3:46535ec6d8b1 56 }
AlexQian 3:46535ec6d8b1 57 }
AlexQian 3:46535ec6d8b1 58 myDigitalOutPA_6.write((CycleCount % 2 == 0));
AlexQian 4:1b985e622d26 59 wait(0.05);
Owen 0:a51a6e7da590 60 }
wanzq 2:4704fdd9ef91 61
AlexQian 3:46535ec6d8b1 62 }