Diff: main.cpp

Revision:

0:b5e995814400

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 12 18:50:58 2014 +0000
@@ -0,0 +1,125 @@
+#include "mbed.h"
+#include "nRF24L01P.h"
+#include "FXOS8700Q.h"
+#include "DebounceIn.h"
+
+#define ACC_SAMPLE_SIZE 200
+#define ACC_X_GAIN 1
+#define ACC_Y_GAIN 2
+#define TRANSFER_SIZE   9
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+nRF24L01P my_nrf24l01p(PTD6, PTD7, PTD5, PTD4, PTC12, PTC18);    // mosi, miso, sck, csn, ce, irq
+FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+MotionSensorDataCounts acc_raw;
+int16_t acc_x, acc_y;
+DebounceIn fire_button(PTA4);
+DebounceIn cal_button(PTC6);
+
+int main() {
+
+    char txData[TRANSFER_SIZE];
+    int txDataCnt = 0;
+
+    int acc_x_array[ACC_SAMPLE_SIZE];
+    int acc_y_array[ACC_SAMPLE_SIZE];
+    int acc_sample_cnt = 0;
+
+    int acc_x_avg = 0;
+    int acc_y_avg = 0;
+    
+    int acc_x_cal = 0;
+    int acc_y_cal = 0;
+
+    pc.baud(115200);
+    
+    my_nrf24l01p.setTxAddress(0xDEADBEEF01);
+    my_nrf24l01p.powerUp();
+    myled1 = 1;
+    myled2 = 1;
+    
+    // Display the 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() );
+
+    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
+    my_nrf24l01p.enable();
+
+    acc.enable();
+    
+    myled3 = 0;
+    
+    for (int x=0; x<ACC_SAMPLE_SIZE; x++) {
+        acc_x_array[x]=0;
+        acc_y_array[x]=0;
+    }
+    
+    while (1) {
+        acc.getAxis(acc_raw);
+        
+        acc_x = acc_raw.x - acc_x_cal;
+        acc_y = acc_raw.y - acc_y_cal;
+
+        acc_x_array[acc_sample_cnt]=(int)(acc_x>>2);
+        acc_y_array[acc_sample_cnt]=(int)(acc_y>>2);
+
+        acc_sample_cnt++;
+        if (acc_sample_cnt>=ACC_SAMPLE_SIZE) acc_sample_cnt = 0;
+
+        acc_x_avg=0;
+        acc_y_avg=0;
+        for (int x=0; x<ACC_SAMPLE_SIZE; x++) {
+            acc_x_avg=acc_x_avg+acc_x_array[x];
+            acc_y_avg=acc_y_avg+acc_y_array[x];
+        }
+        acc_x_avg = (int)(acc_x_avg/ACC_SAMPLE_SIZE);
+        acc_y_avg = (int)(acc_y_avg/ACC_SAMPLE_SIZE);
+
+        //pc.printf("%d (%d)\t%d (%d)\n\r",acc_x_avg,acc_raw.x,acc_y_avg,acc_raw.y);
+
+        txData[0] = (acc_x_avg) & 0xff;
+        txData[1] = (acc_x_avg>>8)  & 0xff;
+        txData[2] = (acc_x_avg>>16)  & 0xff;
+        txData[3] = (acc_x_avg>>24)  & 0xff;
+    
+        txData[4] = (acc_y_avg) & 0xff;
+        txData[5] = (acc_y_avg>>8)  & 0xff;
+        txData[6] = (acc_y_avg>>16)  & 0xff;
+        txData[7] = (acc_y_avg>>24)  & 0xff;
+        
+        txData[8] = (char)(fire_button.read());
+        myled1 = fire_button.read();
+        myled3 = !myled1;
+        
+        my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, sizeof( txData ) );
+        
+        wait(0.001);
+        
+        if (cal_button.read()==0) {
+            myled2 = 0;
+            myled3 = 1;
+            
+            acc_x_avg=0;
+            acc_y_avg=0;
+            for (int x=0; x<ACC_SAMPLE_SIZE; x++) {
+                acc.getAxis(acc_raw);
+                acc_x_avg=acc_x_avg+acc_raw.x;
+                acc_y_avg=acc_y_avg+acc_raw.y;
+                wait(0.01);
+            }
+            acc_x_cal = (int)(acc_x_avg/ACC_SAMPLE_SIZE);
+            acc_y_cal = (int)(acc_y_avg/ACC_SAMPLE_SIZE);
+            myled2 = 1;
+            myled3 = 0;
+        }
+    
+    }
+}