Working Version of Nerf Gun 2.0 Receiver, uses wireless nRF24L01P
Fork of nRF24L01P_Hello_World by
main.cpp@2:9caef35c5062, 2014-05-12 (annotated)
- Committer:
- clarkjarvis
- Date:
- Mon May 12 18:47:06 2014 +0000
- Revision:
- 2:9caef35c5062
- Parent:
- 1:5be2682710c6
Working Version of Nerf Gun 2.0 Receiver, uses wireless nRF24L01P
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Owen | 0:a51a6e7da590 | 1 | #include "mbed.h" |
Owen | 0:a51a6e7da590 | 2 | #include "nRF24L01P.h" |
Owen | 0:a51a6e7da590 | 3 | |
clarkjarvis | 2:9caef35c5062 | 4 | #define V_SERVO_CENTER 1800 |
clarkjarvis | 2:9caef35c5062 | 5 | #define V_SERVO_MAX 2200 |
clarkjarvis | 2:9caef35c5062 | 6 | #define V_SERVO_MIN 800 |
clarkjarvis | 2:9caef35c5062 | 7 | #define H_SERVO_CENTER 1600 |
clarkjarvis | 2:9caef35c5062 | 8 | #define H_SERVO_MAX 2200 |
clarkjarvis | 2:9caef35c5062 | 9 | #define H_SERVO_MIN 800 |
clarkjarvis | 2:9caef35c5062 | 10 | #define TRANSFER_SIZE 9 |
clarkjarvis | 2:9caef35c5062 | 11 | |
Owen | 0:a51a6e7da590 | 12 | Serial pc(USBTX, USBRX); // tx, rx |
Owen | 0:a51a6e7da590 | 13 | |
clarkjarvis | 2:9caef35c5062 | 14 | nRF24L01P my_nrf24l01p(PTD6, PTD7, PTD5, PTD4, PTC12, PTC18); // mosi, miso, sck, csn, ce, irq |
Owen | 0:a51a6e7da590 | 15 | |
Owen | 0:a51a6e7da590 | 16 | DigitalOut myled1(LED1); |
Owen | 0:a51a6e7da590 | 17 | DigitalOut myled2(LED2); |
clarkjarvis | 2:9caef35c5062 | 18 | DigitalOut myled3(LED3); |
clarkjarvis | 2:9caef35c5062 | 19 | |
clarkjarvis | 2:9caef35c5062 | 20 | DigitalOut fire(PTB23); |
clarkjarvis | 2:9caef35c5062 | 21 | PwmOut v_servo(PTC2); |
clarkjarvis | 2:9caef35c5062 | 22 | PwmOut h_servo(PTA2); |
Owen | 0:a51a6e7da590 | 23 | |
Owen | 0:a51a6e7da590 | 24 | int main() { |
Owen | 0:a51a6e7da590 | 25 | |
Owen | 0:a51a6e7da590 | 26 | // The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's |
Owen | 0:a51a6e7da590 | 27 | // "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019) |
Owen | 0:a51a6e7da590 | 28 | // only handles 4 byte transfers in the ATMega code. |
clarkjarvis | 2:9caef35c5062 | 29 | myled1 = 1; |
clarkjarvis | 2:9caef35c5062 | 30 | myled2 = 1; |
clarkjarvis | 2:9caef35c5062 | 31 | myled3 = 0; |
Owen | 0:a51a6e7da590 | 32 | |
clarkjarvis | 2:9caef35c5062 | 33 | pc.baud(115200); |
clarkjarvis | 2:9caef35c5062 | 34 | char rxData[TRANSFER_SIZE]; |
Owen | 0:a51a6e7da590 | 35 | int rxDataCnt = 0; |
Owen | 0:a51a6e7da590 | 36 | |
clarkjarvis | 2:9caef35c5062 | 37 | my_nrf24l01p.setRxAddress(0xDEADBEEF01); |
Owen | 0:a51a6e7da590 | 38 | my_nrf24l01p.powerUp(); |
Owen | 0:a51a6e7da590 | 39 | |
Owen | 0:a51a6e7da590 | 40 | // Display the (default) setup of the nRF24L01+ chip |
Owen | 0:a51a6e7da590 | 41 | pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", my_nrf24l01p.getRfFrequency() ); |
Owen | 0:a51a6e7da590 | 42 | pc.printf( "nRF24L01+ Output power : %d dBm\r\n", my_nrf24l01p.getRfOutputPower() ); |
Owen | 0:a51a6e7da590 | 43 | pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", my_nrf24l01p.getAirDataRate() ); |
Owen | 0:a51a6e7da590 | 44 | pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() ); |
Owen | 0:a51a6e7da590 | 45 | pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() ); |
Owen | 0:a51a6e7da590 | 46 | |
clarkjarvis | 2:9caef35c5062 | 47 | pc.printf( "This is the Receiver\r\n"); |
Owen | 0:a51a6e7da590 | 48 | |
Owen | 0:a51a6e7da590 | 49 | my_nrf24l01p.setTransferSize( TRANSFER_SIZE ); |
Owen | 0:a51a6e7da590 | 50 | |
Owen | 0:a51a6e7da590 | 51 | my_nrf24l01p.setReceiveMode(); |
Owen | 0:a51a6e7da590 | 52 | my_nrf24l01p.enable(); |
Owen | 0:a51a6e7da590 | 53 | |
clarkjarvis | 2:9caef35c5062 | 54 | |
clarkjarvis | 2:9caef35c5062 | 55 | v_servo.period_us(20000); // servo requires a 20ms period |
clarkjarvis | 2:9caef35c5062 | 56 | v_servo.pulsewidth_us(V_SERVO_CENTER); |
clarkjarvis | 2:9caef35c5062 | 57 | h_servo.period_us(20000); // servo requires a 20ms period |
clarkjarvis | 2:9caef35c5062 | 58 | h_servo.pulsewidth_us(H_SERVO_CENTER); |
clarkjarvis | 2:9caef35c5062 | 59 | fire = 0; |
clarkjarvis | 2:9caef35c5062 | 60 | |
clarkjarvis | 2:9caef35c5062 | 61 | int v_pulse = V_SERVO_CENTER; |
clarkjarvis | 2:9caef35c5062 | 62 | int h_pulse = H_SERVO_CENTER; |
Owen | 0:a51a6e7da590 | 63 | |
clarkjarvis | 2:9caef35c5062 | 64 | v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms |
clarkjarvis | 2:9caef35c5062 | 65 | h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms |
Owen | 0:a51a6e7da590 | 66 | |
clarkjarvis | 2:9caef35c5062 | 67 | wait(0.5); |
clarkjarvis | 2:9caef35c5062 | 68 | |
clarkjarvis | 2:9caef35c5062 | 69 | int32_t acc_x, acc_y; |
clarkjarvis | 2:9caef35c5062 | 70 | char fire_button; |
clarkjarvis | 2:9caef35c5062 | 71 | |
clarkjarvis | 2:9caef35c5062 | 72 | while (1) { |
Owen | 0:a51a6e7da590 | 73 | |
Owen | 0:a51a6e7da590 | 74 | // If we've received anything in the nRF24L01+... |
Owen | 0:a51a6e7da590 | 75 | if ( my_nrf24l01p.readable() ) { |
clarkjarvis | 2:9caef35c5062 | 76 | |
Owen | 0:a51a6e7da590 | 77 | // ...read the data into the receive buffer |
Owen | 0:a51a6e7da590 | 78 | rxDataCnt = my_nrf24l01p.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) ); |
Owen | 0:a51a6e7da590 | 79 | |
Owen | 0:a51a6e7da590 | 80 | // Display the receive buffer contents via the host serial link |
clarkjarvis | 2:9caef35c5062 | 81 | acc_x = (int32_t)((rxData[0])|(rxData[1]<<8)|(rxData[2]<<16)|(rxData[3]<<24)); |
clarkjarvis | 2:9caef35c5062 | 82 | acc_y = (int32_t)((rxData[4])|(rxData[5]<<8)|(rxData[6]<<16)|(rxData[7]<<24)); |
clarkjarvis | 2:9caef35c5062 | 83 | fire_button = rxData[8]; |
clarkjarvis | 2:9caef35c5062 | 84 | |
clarkjarvis | 2:9caef35c5062 | 85 | //pc.printf("%d\t%d\t- %d\n\r",acc_x,acc_y,fire_button); |
clarkjarvis | 2:9caef35c5062 | 86 | //pc.printf("%01x %01x %01x %01x %01x %01x\n\r",rxData[1],rxData[0],rxData[3],rxData[2],rxData[5],rxData[4]); |
clarkjarvis | 2:9caef35c5062 | 87 | |
clarkjarvis | 2:9caef35c5062 | 88 | v_pulse = V_SERVO_CENTER + acc_x; |
clarkjarvis | 2:9caef35c5062 | 89 | h_pulse = H_SERVO_CENTER + acc_y; |
clarkjarvis | 2:9caef35c5062 | 90 | |
clarkjarvis | 2:9caef35c5062 | 91 | if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN; |
clarkjarvis | 2:9caef35c5062 | 92 | if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX; |
clarkjarvis | 2:9caef35c5062 | 93 | |
clarkjarvis | 2:9caef35c5062 | 94 | if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN; |
clarkjarvis | 2:9caef35c5062 | 95 | if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX; |
clarkjarvis | 2:9caef35c5062 | 96 | |
clarkjarvis | 2:9caef35c5062 | 97 | v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms |
clarkjarvis | 2:9caef35c5062 | 98 | h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms |
clarkjarvis | 2:9caef35c5062 | 99 | |
clarkjarvis | 2:9caef35c5062 | 100 | //pc.printf("%d\t%d\t\n\r",v_pulse,h_pulse); |
clarkjarvis | 2:9caef35c5062 | 101 | |
clarkjarvis | 2:9caef35c5062 | 102 | myled1 = fire_button; |
clarkjarvis | 2:9caef35c5062 | 103 | myled3 = !fire_button; |
clarkjarvis | 2:9caef35c5062 | 104 | fire = !fire_button; |
clarkjarvis | 2:9caef35c5062 | 105 | |
Owen | 0:a51a6e7da590 | 106 | } |
Owen | 0:a51a6e7da590 | 107 | } |
Owen | 0:a51a6e7da590 | 108 | } |