Revision 3:6be25aa4e69d, committed 2017-06-02

Comitter:

brainliang

Date:

Fri Jun 02 10:30:24 2017 +0000

Parent:

2:1199904d820e

Commit message:

no comment

Changed in this revision

--- a/main.cpp	Sat May 06 04:46:18 2017 +0000
+++ b/main.cpp	Fri Jun 02 10:30:24 2017 +0000
@@ -1,21 +1,42 @@
+/*
+本程序实验时,注意将串口调试助手的波特率修改为115200
+实验证明:SPI通讯硬件连接中,mosi,miso,sck是专用引脚.而csn,ce,irq都是用的引脚的GPIO功能.
+试验中,将本例的D7换成了D12,D8换成了D11,D6换成了D13,实验没有问题.
+*/
 #include "mbed.h"
 #include "nRF24L01P.h"
 
-Serial pc(USBTX, USBRX, 115200); // tx, rx
+Serial pc(USBTX, USBRX, 115200); // tx, rx,波特率115200
+/*USBTX--PA_2,USBRX--PA_3*/
 
-nRF24L01P my_nrf24l01p(D4, D5, D3, D7, D8, D6);    // mosi, miso, sck, csn, ce, irq
+nRF24L01P my_nrf24l01p(D4, D5, D3, D7, D8, D6);    // mosi, miso, sck, csn, ce, irq   用SPI1通讯, D3灯这种命名方法是根据网站mbed引脚地图中的绿色框得到的,具体见PinNames.h
+/*D3--PB_3,D4--PB_5,D5--PB_4,D6--PB_10,D7--PA_8,D8--PA9*/
 
 DigitalOut myled1(LED1);
 DigitalOut myled2(LED2);
+/*LED1--PA_5,LED2--PA_5*/
 
 int main() {
     
     pc.printf("init\r\n");
+    
+    
+    typedef signed char s8;
+    s8 Direction = 100,Speed = 100,steer1 = 50,steer2 = 50,steer3 = 50,steer4 = 50;    //typedef int8_t s8:-128~127
+    s8 DirectionGoal,SpeedGoal,steer1Goal,steer2Goal,steer3Goal,steer4Goal;    //typedef int8_t s8:-128~127
+    //extern Serial bluetoothreceive;
+    typedef enum
+    {
+        CheckS,CheckW,Checka,Checkb,Checkc,Checkd,Checke,Checkf,CheckSum, CheckOver
+    }STATE;   //定义枚举类型STATE
 
 // 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
+/*
+nRF24L01+支持从1-32字节的传输,但是Sparkfun的"Nordic Serial Interface Board"板子在ATMega代码中,只处理4字节的传输
+*/
+    #define TRANSFER_SIZE   8    //每次发送的固定字节数目
 
     char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
     int txDataCnt = 0;
@@ -24,6 +45,7 @@
     my_nrf24l01p.powerUp();
 
     // Display the (default) setup of the nRF24L01+ chip
+    //显示nRF24L01+芯片的默认设置
     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() );
@@ -32,46 +54,128 @@
 
     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();
+    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );   //设置传输字节数
+    my_nrf24l01p.setReceiveMode();   //打开接收
+    my_nrf24l01p.enable();      //使能
 
     while (1) {
 
-        // If we've received anything over the host serial link...
+        // If we've received anything over the host serial link...如果从与主机连接的串口中接收到消息
         if ( pc.readable() ) {
 
-            // ...add it to the transmit buffer
+            // ...add it to the transmit buffer添加到发送缓存
             txData[txDataCnt++] = pc.getc();
 
-            // If the transmit buffer is full
+            // If the transmit buffer is full如果发送缓存是满的
             if ( txDataCnt >= sizeof( txData ) ) {
 
                 // Send the transmitbuffer via the nRF24L01+
-                my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, txDataCnt );
+                my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, txDataCnt );    //发送,这是发送用的函数.txData是发送的内容,txDataCnt是发送的字节数
 
-                txDataCnt = 0;
+                txDataCnt = 0;    //计数清零
             }
 
-            // Toggle LED1 (to help debug Host -> nRF24L01+ communication)
+            // Toggle LED1 (to help debug Host -> nRF24L01+ communication)切换LED1(帮助调试主机->nRF24L01+的通讯)
             myled1 = !myled1;
         }
 
-        // If we've received anything in the nRF24L01+...
+        // If we've received anything in the nRF24L01+...如果在nRF24L01+中接收到消息
         if ( my_nrf24l01p.readable() ) {
 
-            // ...read the data into the receive buffer
-            rxDataCnt = my_nrf24l01p.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
+            // ...read the data into the receive buffer将接收到的消息读入接收缓存
+            rxDataCnt = my_nrf24l01p.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );   //接收,这是接收函数,rxData是接收的内容,后面跟着接收的字节数.   问题:赋值给rxDataCnt的目的是什么???
 
-            // Display the receive buffer contents via the host serial link
+            // Display the receive buffer contents via the host serial link通过主机串口连接显示接收缓存中的内容
+            
+//            int counter = 0;
+            bool flag = false;
+            s8 u1Rec; 
+            static STATE State = CheckS;// 初始状态待检查
+            static s8 PositionTemp[5]={0,0,0,0,0};// 装载数据值a(左右转)b(前后退)c d e f舵机转动角度sum(求和校验)
+            
+            
+            
             for ( int i = 0; rxDataCnt > 0; rxDataCnt--, i++ ) {
-
-                pc.putc( rxData[i] );
+                
+                pc.putc( rxData[i] );  //打印到串口
+                
+                
+                switch(State)
+                {
+                case CheckS:
+                    if(u1Rec==(s8)'S'){
+                        State=CheckW;//准备跳转至数据读取
+                    }else
+                        State=CheckS;
+                        break;
+                case CheckW:
+                    if(u1Rec==(s8)'W'){
+                        State=Checka;
+                    }else if(u1Rec==(s8)'S')
+                            State=CheckW;
+                        else 
+                            State=CheckS;
+                            break;
+                case Checka:
+                    PositionTemp[0]=u1Rec;
+                    State=Checkb;
+                    break;
+                case Checkb:
+                    PositionTemp[1]=u1Rec;
+                    State=Checkc;
+                    break;
+                case Checkc:
+                    PositionTemp[2]=u1Rec;
+                    State=Checkd;
+                    break;
+                case Checkd:
+                    PositionTemp[3]=u1Rec;
+                    State=Checke;
+                    break;
+//                case Checke:
+//                    PositionTemp[4]=u1Rec;
+//                    State=Checkf;
+//                    break;
+//                case Checkf:
+//                    PositionTemp[5]=u1Rec;
+//                    State=CheckSum;
+//                    break;
+                case CheckSum:
+                    PositionTemp[4]=u1Rec;
+                    State=CheckOver;
+                    break;
+                case CheckOver:
+                    if(u1Rec==(s8)'E'){
+                        State=CheckS;//准备跳转至数据读取
+                    } else {
+                        State=CheckS;
+                        break;
+                    }
+                    if(PositionTemp[4]==(s8)(PositionTemp[0]+PositionTemp[1]+PositionTemp[2]+PositionTemp[3]))
+                    {
+                        DirectionGoal = PositionTemp[0];
+                        SpeedGoal     = PositionTemp[1];
+                        steer1Goal    = PositionTemp[2];
+                        steer2Goal    = PositionTemp[3];
+//                        steer3Goal    = PositionTemp[4];
+//                        steer4Goal    = PositionTemp[5];
+//                        pc.printf("E\n");     //调试用,用于显示程序是否运行到这里
+//                        pc.printf("Speed: %d \n", Speed);     //调试用,用于显示程序是否 正确接收到数据
+//                        pc.printf("steer1: %d \n", steer1);
+//                        pc.printf("steer2: %d \n", steer2);
+//                        pc.printf("steer3: %d \n", steer3);
+//                        pc.printf("steer4: %d \n", steer4);
+                            flag = true;      //状态判断,用于判断蓝牙串口是否接收到控制指令
+                    }
+                    break; 
+                default:
+                    State=CheckS;
+                    break;
             }
 
-            // Toggle LED2 (to help debug nRF24L01+ -> Host communication)
+            // Toggle LED2 (to help debug nRF24L01+ -> Host communication)切换LED2(帮助调试nRF24L01+->主机的通讯)
             myled2 = !myled2;
         }
     }
 }
+}