liang brain / Mbed 2 deprecated Ex_Blocky_template_4rotor_qianyuyang

sdaf

Dependencies:   mbed nRF24L01P

main.cpp@3:46535ec6d8b1, 2019-03-18 (annotated)

Committer:
AlexQian
Date:
Mon Mar 18 03:39:29 2019 +0000
Revision:
3:46535ec6d8b1
Parent:
2:4704fdd9ef91
Child:
4:1b985e622d26
fly-blocky-template

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"
Owen 0:a51a6e7da590 4 #include "nRF24L01P.h"
AlexQian 3:46535ec6d8b1 5 #include "MPU6050.h"
AlexQian 3:46535ec6d8b1 6 #include <string>
AlexQian 3:46535ec6d8b1 7 typedef bool boolean;
AlexQian 3:46535ec6d8b1 8 typedef std::string String;
Owen 0:a51a6e7da590 9
AlexQian 3:46535ec6d8b1 10 char rxdata[12] ;
AlexQian 3:46535ec6d8b1 11 float Yaw,Pitch,Roll,Power;
AlexQian 3:46535ec6d8b1 12 int Yaw_t;
AlexQian 3:46535ec6d8b1 13 int Pitch_t;
AlexQian 3:46535ec6d8b1 14 int Roll_t;
AlexQian 3:46535ec6d8b1 15 int Power_t;
AlexQian 3:46535ec6d8b1 16 long CycleCount;
AlexQian 3:46535ec6d8b1 17 long ReceiveCount;
Owen 0:a51a6e7da590 18
AlexQian 3:46535ec6d8b1 19 #define NRF24_TRANSFER_SIZE 12
AlexQian 3:46535ec6d8b1 20 nRF24L01P nrf24_PB_15(PB_15,PB_14,PB_13,PB_6,PB_5,PB_7);
AlexQian 3:46535ec6d8b1 21 Serial Serial_1(PA_2,PA_3);
AlexQian 3:46535ec6d8b1 22 DigitalOut myDigitalOutPA_7(PA_7);
AlexQian 3:46535ec6d8b1 23 DigitalOut myDigitalOutPA_6(PA_6);
AlexQian 3:46535ec6d8b1 24 MPU6050 mpu6050(PB_9,PB_8);
Owen 0:a51a6e7da590 25 int main() {
AlexQian 3:46535ec6d8b1 26 Serial_1.baud(9600);
AlexQian 3:46535ec6d8b1 27 Serial_1.printf("Init\n");
AlexQian 3:46535ec6d8b1 28 mpu6050.Init();
AlexQian 3:46535ec6d8b1 29
AlexQian 3:46535ec6d8b1 30 nrf24_PB_15.powerUp();
AlexQian 3:46535ec6d8b1 31 nrf24_PB_15.setTransferSize( NRF24_TRANSFER_SIZE );
AlexQian 3:46535ec6d8b1 32 nrf24_PB_15.setReceiveMode();
AlexQian 3:46535ec6d8b1 33 nrf24_PB_15.setRxAddress(12345ull);
AlexQian 3:46535ec6d8b1 34 nrf24_PB_15.setTxAddress(12345ull);
AlexQian 3:46535ec6d8b1 35 nrf24_PB_15.enable();
AlexQian 3:46535ec6d8b1 36
AlexQian 3:46535ec6d8b1 37
AlexQian 3:46535ec6d8b1 38
AlexQian 3:46535ec6d8b1 39 CycleCount = 0;
AlexQian 3:46535ec6d8b1 40 ReceiveCount = 0;
AlexQian 3:46535ec6d8b1 41 Serial_1.printf("Ready to Receive\n");
AlexQian 3:46535ec6d8b1 42 while (true) {
AlexQian 3:46535ec6d8b1 43 CycleCount = CycleCount + 1;
AlexQian 3:46535ec6d8b1 44
AlexQian 3:46535ec6d8b1 45 mpu6050.receiveData(&Yaw,&Pitch,&Roll); //读取传感器姿态
AlexQian 3:46535ec6d8b1 46 Serial_1.printf("Sensor Data: Yaw, Pitch, Roll: %.2f %.2f %.2f\n\r", Yaw, Pitch, Roll);
AlexQian 3:46535ec6d8b1 47
AlexQian 3:46535ec6d8b1 48 if (nrf24_PB_15.readable()) {
AlexQian 3:46535ec6d8b1 49 ReceiveCount = ReceiveCount + 1;
AlexQian 3:46535ec6d8b1 50 myDigitalOutPA_7.write((ReceiveCount % 2 == 0));
AlexQian 3:46535ec6d8b1 51 nrf24_PB_15.read( NRF24L01P_PIPE_P0, rxdata, NRF24_TRANSFER_SIZE);
AlexQian 3:46535ec6d8b1 52 if (rxdata[0] == 82) {
AlexQian 3:46535ec6d8b1 53 Power_t = rxdata[1];
AlexQian 3:46535ec6d8b1 54 Yaw_t = rxdata[2] - 45;
AlexQian 3:46535ec6d8b1 55 Pitch_t = rxdata[3] - 45;
AlexQian 3:46535ec6d8b1 56 Roll_t = rxdata[4] - 45;
AlexQian 3:46535ec6d8b1 57 Serial_1.printf("Target: Power=%d, Yaw=%d, Pitch=%d, Roll=%d \n",Power_t,Yaw_t,Pitch_t,Roll_t);
AlexQian 3:46535ec6d8b1 58 }
AlexQian 3:46535ec6d8b1 59 }
AlexQian 3:46535ec6d8b1 60 myDigitalOutPA_6.write((CycleCount % 2 == 0));
AlexQian 3:46535ec6d8b1 61 wait(0.01);
Owen 0:a51a6e7da590 62 }
wanzq 2:4704fdd9ef91 63
AlexQian 3:46535ec6d8b1 64 }