aurora moon
1223
Dependencies: BufferedSerial SoftPWM mbed send
Fork of
nRF24L01P_Hello_World
by 
YX ZHANG
Revision 4:876bfa91934c, committed 2017-11-08
- Comitter:
- accelerator225
- Date:
- Wed Nov 08 06:24:17 2017 +0000
- Parent:
- 3:61afd8d17063
- Commit message:
- 1
Changed in this revision
diff -r 61afd8d17063 -r 876bfa91934c BufferedSerial.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BufferedSerial.lib Wed Nov 08 06:24:17 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/sam_grove/code/BufferedSerial/#a0d37088b405
diff -r 61afd8d17063 -r 876bfa91934c JY901.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/JY901.cpp Wed Nov 08 06:24:17 2017 +0000
@@ -0,0 +1,93 @@
+
+#include "JY901.h"
+void JY901::receiveData()
+{
+ char ch;
+ while(mod.readable()){
+ ch = mod.getc();
+ parseInput(&ch, 1);
+ }
+}
+void JY901::parseCmpt(int token, unsigned char* payloadBuf, int payloadLen)
+{
+ switch(token){
+ case 0x51:
+ for (int i = 0; i < 3; ++i)
+ {
+ acc[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+ acc[i] = acc[i] * 16 * 9.8 / 32768;
+ }
+ // lcd.cls();
+ // lcd.printf("Ax=%d\n",int(data[0]*100));
+ //pc.printf("Ax=%.2f\tAy=%.2f\tAz=%.2f\r\n", data[0], data[1], data[2]);
+ break;
+ case 0x52:
+ for (int i = 0; i < 3; ++i)
+ {
+ gyo[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+ gyo[i] = gyo[i] * 2000 / 32768;
+ }
+ //pc.printf("Wx=%.2f\tWy=%.2f\tWz=%.2f\r\n", data[0], data[1], data[2]);
+ break;
+ case 0x53:
+ for (int i = 0; i < 3; ++i)
+ {
+ att[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+ att[i] = att[i] * 180 / 32768;
+ }
+ // pc.printf("Roll=%.2f\tPitch=%.2f\tYaw=%.2f\r\n", data[0], data[1], data[2]);
+ break;
+ case 0x54:
+ for (int i = 0; i < 3; ++i)
+ {
+ mag[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+ }
+ //pc.printf("Hx=%.2f\tHy=%.2f\tHz=%.2f\r\n", data[0], data[1], data[2]);
+ break;
+ }
+}
+void JY901::parseInput(const char* data, int len)
+{
+ for (int i = 0; i < len; ++i)
+ {
+ unsigned char ch = data[i], sum;
+ switch(state){
+ case 0:
+ if(ch == 0x55)
+ state = 1;
+ break;
+ case 1:
+ token = ch;
+ if(0x51 <= token && token <= 0x54){
+ payloadLen = 8;
+ recvLen = 0;
+ state = 2;
+ }else{
+ // pc.printf("%s %x\r\n", "unknown token", token);
+ state = 0;
+ }
+ break;
+ case 2:
+ payloadBuf[recvLen++] = ch;
+ if(recvLen == payloadLen){
+ state = 3;
+ }
+ break;
+ case 3:
+ sum = 0x55;
+ sum += token;
+ for (int i = 0; i < payloadLen; ++i)
+ {
+ sum += payloadBuf[i];
+ }
+ if(sum != ch){
+ // pc.printf("wrong checksum\r\n");
+ }else{
+ parseCmpt(token, payloadBuf, payloadLen);
+ //myled = !myled;
+ }
+ state = 0;
+ break;
+ }
+ }
+}
\ No newline at end of file
diff -r 61afd8d17063 -r 876bfa91934c JY901.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/JY901.h Wed Nov 08 06:24:17 2017 +0000
@@ -0,0 +1,36 @@
+#include "mbed.h"
+#include "BufferedSerial.h"
+class JY901
+{
+ int state, token, payloadLen, recvLen;
+ unsigned char payloadBuf[16];
+protected:
+ BufferedSerial mod;
+ float acc[3], gyo[3], mag[3], att[3];
+ void parseCmpt(int token, unsigned char* payloadBuf, int payloadLen);
+ void parseInput(const char* data, int len);
+public:
+ JY901(PinName TX, PinName RX) : mod(TX, RX, 32){}
+ ~JY901() {}
+ void receiveData();
+ void getAcc(float &x, float &y, float &z){
+ x = acc[0];
+ y = acc[1];
+ z = acc[2];
+ }
+ void getGyo(float &x, float &y, float &z){
+ x = gyo[0];
+ y = gyo[1];
+ z = gyo[2];
+ }
+ void getMag(float &x, float &y, float &z){
+ x = mag[0];
+ y = mag[1];
+ z = mag[2];
+ }
+ void getAttitude(float &roll, float &pitch, float &yaw){
+ roll = att[0];
+ pitch = att[1];
+ yaw = att[2];
+ }
+};
\ No newline at end of file
diff -r 61afd8d17063 -r 876bfa91934c SoftPWM.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SoftPWM.lib Wed Nov 08 06:24:17 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/komaida424/code/SoftPWM/#7918ce37626c
diff -r 61afd8d17063 -r 876bfa91934c main.cpp
--- a/main.cpp Wed Oct 11 06:29:40 2017 +0000
+++ b/main.cpp Wed Nov 08 06:24:17 2017 +0000
@@ -1,78 +1,100 @@
#include "mbed.h"
#include "nRF24L01P.h"
-
-Serial pc(USBTX, USBRX, 115200); // tx, rx
+#include "SoftPWM.h"
+#define JY901transfersize 11
+#define TRANSFER_SIZE 11
+#include"JY901.h"
+#define pwm_period 1
+int flagg = 0;
-// mosi, miso, sck, csn, ce, irq
-nRF24L01P my_nrf24l01p(D4, D5, D3, D7, D8, D6);
-
-DigitalOut myled1(LED1);
-DigitalOut myled2(LED2);
+char targetdata[3];
+char receivedata[4];
+float change[4];
+int receivedatacnt = 0;
+SoftPWM PWM1(PA_2),PWM2(PA_3),PWM3(PA_6),PWM4(PA_7),PWM5(PB_0),PWM6(PB_1);
-int main() {
-
- pc.printf("init\r\n");
+int rollx=0,rolly=0,rollz=0,drx,dry,drz,ax,ay,az;
+float kp,ki,kd;
+void pwm_init()
+{
+ PWM1.period_ms(pwm_period);
+ PWM2.period_ms(pwm_period);
+ PWM3.period_ms(pwm_period);
+ PWM4.period_ms(pwm_period);
+ PWM5.period_ms(pwm_period);
+ PWM6.period_ms(pwm_period);
+ PWM1=0.0;PWM2=0.0;PWM3=0.0;PWM4=0.0;PWM5=0.0;PWM6=0.0;
+}
-// 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];
+JY901 _JY901(PA_9,PA_10);
+//nRF24L01P my_nrf24l01p(PB_15, PB_14, PB_13, PC_1, PC_2, PC_0);
+char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
+ int JY901cnt = 0;
int txDataCnt = 0;
int rxDataCnt = 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 );
+void transferdata(){
+ _JY901.receiveData();
+ float acc[3];
+ _JY901.getAttitude(acc[0], acc[1], acc[2]);
+ PWM1=0.2;//0.13+0.13*(float)rollx/32767.0;
+ PWM2=0.4;//0.13-0.13*(float)rolly/32767.0;
+ PWM3=0.1-0.1*acc[0]/180;
+}
- my_nrf24l01p.setReceiveMode();
- my_nrf24l01p.enable();
-
- 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 ) ) {
+int PIDcontrol(char *targetdata,char *data,float *change){
+ return 1;
+}
- // 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;
- }
-
- // If we've received anything in the nRF24L01+...
- if ( my_nrf24l01p.readable() ) {
+void update_roll()
+{
+ // char *s;
+ /*char data[JY901transfersize];
+ char flag =0,flag2 = 0;
+ int q=1;
+ while(q < 1000){
+ q++;
+ switch(flag){
+ case 0:
+ flag2=JY901.getc();
+ if(flag2==0x55) flag++;
+ break;
+ case 1:
+ flag2=JY901.getc();
+ if(flag2 == 0x53){
+ flag++;
+ data[0] = 0x55;
+ data[1] = flag2;
+ }
+ else flag--;
+ break;
+ case 2:
+ for(int i = 2;i != JY901transfersize;i++)
+ data[i] = JY901.getc();
+ q = 1001;
+ break;
+ }
+ }*/
- // ...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++ ) {
+ // rollx+=drx;
+ // rolly+=dry;
+ //rollz+=drz;
+ // sprintf(s,"%f",rollx*180/32767);
+ // my_nrf24l01p.write( NRF24L01P_PIPE_P0,s,11);
+}
+int main() {
+ // my_nrf24l01p.powerUp();
+ // my_nrf24l01p.setTransferSize( 11);
+ // my_nrf24l01p.setReceiveMode();
+ // my_nrf24l01p.enable();
- pc.putc( rxData[i] );
- }
+ Ticker time;
+ time.attach(&transferdata,0.1);
+ while(1){
+
+ // pc.printf("succes");
+
+
+ }
+
+}
- // Toggle LED2 (to help debug nRF24L01+ -> Host communication)
- myled2 = !myled2;
- }
- }
-}
diff -r 61afd8d17063 -r 876bfa91934c nRF24L01P.lib --- a/nRF24L01P.lib Wed Oct 11 06:29:40 2017 +0000 +++ b/nRF24L01P.lib Wed Nov 08 06:24:17 2017 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/Owen/code/nRF24L01P/#8ae48233b4e4 +https://os.mbed.com/users/accelerator225/code/send/#e0605b07372f