Wii Nunchuk via RFM69HW to Duplo 9203 Remote Control Car Kit using ARM mbed on a FRDM-KL25Z
Dependencies: CRC FastPWM RFM69 USBDevice WakeUp WiiChuk_compat mbed-rtos mbed tlc59108
Fork of wiiNunchuk_compat by
main.cpp@9:dc6ffa2ef179, 2016-06-26 (annotated)
- Committer:
- eisd
- Date:
- Sun Jun 26 18:31:45 2016 +0000
- Revision:
- 9:dc6ffa2ef179
- Parent:
- 8:5f933580b560
- Child:
- 10:ba778fc959b8
Just... stop... twitching
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gbrush | 0:7c98bcd8a245 | 1 | #include "mbed.h" |
eisd | 5:7af5760d7e8f | 2 | #include "rtos.h" |
eisd | 1:de8c34c9ccdf | 3 | #ifndef M_PI |
eisd | 1:de8c34c9ccdf | 4 | #define M_PI 3.14159265358979323846 |
eisd | 1:de8c34c9ccdf | 5 | #endif |
eisd | 1:de8c34c9ccdf | 6 | |
eisd | 1:de8c34c9ccdf | 7 | #include "WiiChuk_compat.hpp" |
eisd | 7:f720032c2fb9 | 8 | #include "lib_crc.h" |
gbrush | 0:7c98bcd8a245 | 9 | |
eisd | 2:04fdd571a385 | 10 | //#include "USBSerial.h" |
eisd | 2:04fdd571a385 | 11 | |
eisd | 2:04fdd571a385 | 12 | #include "RFM69.h" |
eisd | 2:04fdd571a385 | 13 | #define GATEWAY_ID 2 |
eisd | 2:04fdd571a385 | 14 | #define NODE_ID 1 |
eisd | 2:04fdd571a385 | 15 | #define NETWORKID 100 |
gbrush | 0:7c98bcd8a245 | 16 | |
eisd | 2:04fdd571a385 | 17 | // Uncomment only one of the following three to match radio frequency |
eisd | 2:04fdd571a385 | 18 | //#define FREQUENCY RF69_433MHZ |
eisd | 2:04fdd571a385 | 19 | #define FREQUENCY RF69_868MHZ |
eisd | 2:04fdd571a385 | 20 | //#define FREQUENCY RF69_915MHZ |
eisd | 2:04fdd571a385 | 21 | |
eisd | 3:9091adbed369 | 22 | const char *directions[8] = { "XR", "RR", "RX", "FR", "FX", "FF", "XF", "RF" }; |
eisd | 5:7af5760d7e8f | 23 | |
eisd | 5:7af5760d7e8f | 24 | #ifdef USBSerial |
eisd | 5:7af5760d7e8f | 25 | USBSerial pc; |
eisd | 5:7af5760d7e8f | 26 | #else |
eisd | 2:04fdd571a385 | 27 | Serial pc(USBTX, USBRX); |
eisd | 1:de8c34c9ccdf | 28 | #endif |
eisd | 5:7af5760d7e8f | 29 | |
eisd | 5:7af5760d7e8f | 30 | #if TARGET_KL25Z |
eisd | 5:7af5760d7e8f | 31 | DigitalOut gnd(PTC0); |
eisd | 5:7af5760d7e8f | 32 | PwmOut ir(PTD4); |
eisd | 5:7af5760d7e8f | 33 | #endif |
eisd | 5:7af5760d7e8f | 34 | #define pulse(x, y) ir = 0.5; wait_us(x); ir = 0.0; wait_us(y); |
eisd | 5:7af5760d7e8f | 35 | |
eisd | 5:7af5760d7e8f | 36 | /* generated in bash from lirc raw codes */ |
eisd | 5:7af5760d7e8f | 37 | /* |
eisd | 5:7af5760d7e8f | 38 | f=duplo.conf |
eisd | 5:7af5760d7e8f | 39 | sed -n '/begin raw_codes/,/end raw_codes/s/name //p' $f| |
eisd | 5:7af5760d7e8f | 40 | while read n; do |
eisd | 5:7af5760d7e8f | 41 | echo -e "void $n() {$( |
eisd | 5:7af5760d7e8f | 42 | grep $n -A 1 $f|tail -n1| |
eisd | 5:7af5760d7e8f | 43 | sed 's/$/ 1000/;s@\([0-9]\+\)[[:space:]]\+\([0-9]\+\)[[:space:]]*@\n\tpulse(\1, \2);@g' |
eisd | 5:7af5760d7e8f | 44 | )\n}" |
eisd | 5:7af5760d7e8f | 45 | done |
eisd | 5:7af5760d7e8f | 46 | */ |
eisd | 5:7af5760d7e8f | 47 | |
eisd | 5:7af5760d7e8f | 48 | void FX() { |
eisd | 5:7af5760d7e8f | 49 | pulse(1042, 208); |
eisd | 5:7af5760d7e8f | 50 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 51 | pulse(208, 562); |
eisd | 5:7af5760d7e8f | 52 | pulse(625, 208); |
eisd | 5:7af5760d7e8f | 53 | pulse(208, 625); |
eisd | 5:7af5760d7e8f | 54 | pulse(208, 1); |
eisd | 5:7af5760d7e8f | 55 | } |
eisd | 5:7af5760d7e8f | 56 | void XF() { |
eisd | 5:7af5760d7e8f | 57 | pulse(229, 604); |
eisd | 5:7af5760d7e8f | 58 | pulse(229, 188); |
eisd | 5:7af5760d7e8f | 59 | pulse(229, 188); |
eisd | 5:7af5760d7e8f | 60 | pulse(438, 333); |
eisd | 5:7af5760d7e8f | 61 | pulse(625, 208); |
eisd | 5:7af5760d7e8f | 62 | pulse(1250, 1); |
eisd | 5:7af5760d7e8f | 63 | } |
eisd | 5:7af5760d7e8f | 64 | void FF() { |
eisd | 5:7af5760d7e8f | 65 | pulse(208, 625); |
eisd | 5:7af5760d7e8f | 66 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 67 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 68 | pulse(417, 354); |
eisd | 5:7af5760d7e8f | 69 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 70 | pulse(208, 1042); |
eisd | 5:7af5760d7e8f | 71 | pulse(208, 1); |
eisd | 5:7af5760d7e8f | 72 | } |
eisd | 5:7af5760d7e8f | 73 | void RX() { |
eisd | 5:7af5760d7e8f | 74 | pulse(1042, 208); |
eisd | 5:7af5760d7e8f | 75 | pulse(208, 188); |
eisd | 5:7af5760d7e8f | 76 | pulse(229, 542); |
eisd | 5:7af5760d7e8f | 77 | pulse(646, 1); |
eisd | 5:7af5760d7e8f | 78 | } |
eisd | 5:7af5760d7e8f | 79 | void XR() { |
eisd | 5:7af5760d7e8f | 80 | pulse(208, 1042); |
eisd | 5:7af5760d7e8f | 81 | pulse(208, 188); |
eisd | 5:7af5760d7e8f | 82 | pulse(229, 542); |
eisd | 5:7af5760d7e8f | 83 | pulse(625, 417); |
eisd | 5:7af5760d7e8f | 84 | pulse(854, 1); |
eisd | 5:7af5760d7e8f | 85 | } |
eisd | 5:7af5760d7e8f | 86 | void RR() { |
eisd | 5:7af5760d7e8f | 87 | pulse(229, 1021); |
eisd | 5:7af5760d7e8f | 88 | pulse(229, 208); |
eisd | 5:7af5760d7e8f | 89 | pulse(208, 542); |
eisd | 5:7af5760d7e8f | 90 | pulse(229, 188); |
eisd | 5:7af5760d7e8f | 91 | pulse(229, 1229); |
eisd | 5:7af5760d7e8f | 92 | pulse(229, 1); |
eisd | 5:7af5760d7e8f | 93 | } |
eisd | 5:7af5760d7e8f | 94 | void RF() { |
eisd | 5:7af5760d7e8f | 95 | pulse(208, 625); |
eisd | 5:7af5760d7e8f | 96 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 97 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 98 | pulse(417, 333); |
eisd | 5:7af5760d7e8f | 99 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 100 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 101 | pulse(208, 1); |
eisd | 5:7af5760d7e8f | 102 | } |
eisd | 5:7af5760d7e8f | 103 | void FR() { |
eisd | 5:7af5760d7e8f | 104 | pulse(229, 1021); |
eisd | 5:7af5760d7e8f | 105 | pulse(229, 188); |
eisd | 5:7af5760d7e8f | 106 | pulse(229, 542); |
eisd | 5:7af5760d7e8f | 107 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 108 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 109 | pulse(208, 625); |
eisd | 5:7af5760d7e8f | 110 | pulse(417, 1); |
eisd | 5:7af5760d7e8f | 111 | } |
eisd | 5:7af5760d7e8f | 112 | void BB() { |
eisd | 5:7af5760d7e8f | 113 | pulse(1042, 208); |
eisd | 5:7af5760d7e8f | 114 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 115 | pulse(208, 542); |
eisd | 5:7af5760d7e8f | 116 | pulse(208, 417); |
eisd | 5:7af5760d7e8f | 117 | pulse(208, 208); |
eisd | 5:7af5760d7e8f | 118 | pulse(1042, 1); |
eisd | 5:7af5760d7e8f | 119 | } |
eisd | 5:7af5760d7e8f | 120 | |
eisd | 5:7af5760d7e8f | 121 | bool central = true; |
eisd | 7:f720032c2fb9 | 122 | int stops_sent = 0; |
eisd | 5:7af5760d7e8f | 123 | int direction = -1; |
eisd | 5:7af5760d7e8f | 124 | Thread *thread; |
eisd | 5:7af5760d7e8f | 125 | void ir_thread(void const *args) { |
eisd | 5:7af5760d7e8f | 126 | while(1) { |
eisd | 5:7af5760d7e8f | 127 | //if (!central) |
eisd | 5:7af5760d7e8f | 128 | for(int x = 0; x < 5; x++) { |
eisd | 9:dc6ffa2ef179 | 129 | //pc.printf(central? "stop %s %d\r\n" : "direction %s %d\r\n", directions[direction], stops_sent); |
eisd | 9:dc6ffa2ef179 | 130 | if (central) { |
eisd | 9:dc6ffa2ef179 | 131 | if (stops_sent++ < 50) |
eisd | 9:dc6ffa2ef179 | 132 | BB(); |
eisd | 9:dc6ffa2ef179 | 133 | } else { |
eisd | 7:f720032c2fb9 | 134 | stops_sent = 0; |
eisd | 7:f720032c2fb9 | 135 | switch(direction) { |
eisd | 7:f720032c2fb9 | 136 | case 0: XR(); break; |
eisd | 7:f720032c2fb9 | 137 | case 1: RR(); break; |
eisd | 7:f720032c2fb9 | 138 | case 2: RX(); break; |
eisd | 7:f720032c2fb9 | 139 | case 3: FR(); break; |
eisd | 7:f720032c2fb9 | 140 | case 4: FX(); break; |
eisd | 7:f720032c2fb9 | 141 | case 5: FF(); break; |
eisd | 7:f720032c2fb9 | 142 | case 6: XF(); break; |
eisd | 7:f720032c2fb9 | 143 | case 7: RF(); break; |
eisd | 7:f720032c2fb9 | 144 | } |
eisd | 5:7af5760d7e8f | 145 | } |
eisd | 6:3482f1e19d71 | 146 | Thread::wait(10); |
eisd | 5:7af5760d7e8f | 147 | } |
eisd | 5:7af5760d7e8f | 148 | Thread::wait(50); |
eisd | 5:7af5760d7e8f | 149 | } |
eisd | 5:7af5760d7e8f | 150 | } |
eisd | 5:7af5760d7e8f | 151 | |
eisd | 7:f720032c2fb9 | 152 | PwmOut speaker(PTA12); |
eisd | 7:f720032c2fb9 | 153 | DigitalOut speaker_gnd(PTC4); |
eisd | 7:f720032c2fb9 | 154 | //float speaker = 0; |
eisd | 7:f720032c2fb9 | 155 | //float speaker_gnd = 0; |
eisd | 7:f720032c2fb9 | 156 | |
eisd | 7:f720032c2fb9 | 157 | //global variables used by interrupt routine |
eisd | 7:f720032c2fb9 | 158 | volatile int i=0; |
eisd | 7:f720032c2fb9 | 159 | float wave[128]; |
eisd | 7:f720032c2fb9 | 160 | |
eisd | 7:f720032c2fb9 | 161 | // Interrupt routine |
eisd | 7:f720032c2fb9 | 162 | // used to output next analog sample whenever a timer interrupt occurs |
eisd | 7:f720032c2fb9 | 163 | void Sample_timer_interrupt(void) |
eisd | 7:f720032c2fb9 | 164 | { |
eisd | 7:f720032c2fb9 | 165 | // send next analog sample out to D to A |
eisd | 7:f720032c2fb9 | 166 | speaker = wave[i]; |
eisd | 7:f720032c2fb9 | 167 | // increment pointer and wrap around back to 0 at 128 |
eisd | 7:f720032c2fb9 | 168 | i = (i+1) & 0x07F; |
eisd | 7:f720032c2fb9 | 169 | } |
eisd | 7:f720032c2fb9 | 170 | |
eisd | 7:f720032c2fb9 | 171 | int Siren_pitch = 1; |
eisd | 7:f720032c2fb9 | 172 | void Siren_pitch_flip() { |
eisd | 7:f720032c2fb9 | 173 | speaker.period(Siren_pitch ? 0.4/554.365 : 0.4/523.251); |
eisd | 7:f720032c2fb9 | 174 | Siren_pitch ^= 1; |
eisd | 7:f720032c2fb9 | 175 | } |
eisd | 7:f720032c2fb9 | 176 | |
eisd | 7:f720032c2fb9 | 177 | Ticker siren_pitch; |
eisd | 7:f720032c2fb9 | 178 | bool Siren_last = 0; |
eisd | 7:f720032c2fb9 | 179 | void Siren_state(bool on) { |
eisd | 7:f720032c2fb9 | 180 | if (Siren_last != on) { |
eisd | 7:f720032c2fb9 | 181 | pc.printf("siren %d\r\n", on); |
eisd | 7:f720032c2fb9 | 182 | siren_pitch.detach(); |
eisd | 7:f720032c2fb9 | 183 | Siren_pitch = 1; |
eisd | 7:f720032c2fb9 | 184 | Siren_pitch_flip(); |
eisd | 8:5f933580b560 | 185 | siren_pitch.attach(&Siren_pitch_flip, 0.6); |
eisd | 7:f720032c2fb9 | 186 | speaker = on ? 0.3 : 0; |
eisd | 7:f720032c2fb9 | 187 | } |
eisd | 7:f720032c2fb9 | 188 | Siren_last = on; |
eisd | 7:f720032c2fb9 | 189 | } |
eisd | 7:f720032c2fb9 | 190 | |
eisd | 8:5f933580b560 | 191 | DigitalOut Headlight_l(PTD7); |
eisd | 8:5f933580b560 | 192 | DigitalOut Headlight_r(PTB8); |
eisd | 8:5f933580b560 | 193 | |
eisd | 8:5f933580b560 | 194 | #define Headlight_swap 3 |
eisd | 8:5f933580b560 | 195 | #define Headlight_flicker 15 |
eisd | 8:5f933580b560 | 196 | uint8_t Headlight_mode = 0; |
eisd | 8:5f933580b560 | 197 | uint8_t Headlight_phase = 0; |
eisd | 8:5f933580b560 | 198 | Ticker Headlight_pattern; |
eisd | 8:5f933580b560 | 199 | void Headlight_interrupt() { |
eisd | 8:5f933580b560 | 200 | Headlight_phase = (Headlight_phase + 1) % Headlight_flicker; |
eisd | 8:5f933580b560 | 201 | Headlight_l = Headlight_mode == 1 || (Headlight_mode == 2) && ((Headlight_phase % 2) == 0) && (Headlight_phase * 2 > Headlight_flicker); |
eisd | 8:5f933580b560 | 202 | Headlight_r = Headlight_mode == 1 || (Headlight_mode == 2) && ((Headlight_phase % 2) == 0) && (Headlight_phase * 2 < Headlight_flicker); |
eisd | 8:5f933580b560 | 203 | } |
eisd | 8:5f933580b560 | 204 | void Headlight_state(bool a, bool b) { |
eisd | 8:5f933580b560 | 205 | uint8_t mode = b ? 1 : a ? 2 : 0; |
eisd | 8:5f933580b560 | 206 | if (Headlight_mode != mode) { |
eisd | 8:5f933580b560 | 207 | Headlight_mode = mode; |
eisd | 8:5f933580b560 | 208 | Headlight_interrupt(); |
eisd | 8:5f933580b560 | 209 | } |
eisd | 8:5f933580b560 | 210 | } |
eisd | 8:5f933580b560 | 211 | |
eisd | 7:f720032c2fb9 | 212 | int main() |
eisd | 7:f720032c2fb9 | 213 | { |
eisd | 8:5f933580b560 | 214 | Headlight_pattern.attach_us(&Headlight_interrupt, (timestamp_t)(1000000/Headlight_swap/Headlight_flicker)); |
eisd | 7:f720032c2fb9 | 215 | |
eisd | 1:de8c34c9ccdf | 216 | #ifndef USBSerial |
eisd | 1:de8c34c9ccdf | 217 | pc.baud(115200); |
eisd | 1:de8c34c9ccdf | 218 | #endif |
gbrush | 0:7c98bcd8a245 | 219 | |
eisd | 2:04fdd571a385 | 220 | #ifdef TARGET_KL25Z |
eisd | 6:3482f1e19d71 | 221 | PwmOut r(LED_RED); |
eisd | 6:3482f1e19d71 | 222 | //float r = 1.0f; |
eisd | 6:3482f1e19d71 | 223 | PwmOut g(LED_GREEN); |
eisd | 6:3482f1e19d71 | 224 | //float g = 1.0f; |
eisd | 6:3482f1e19d71 | 225 | PwmOut b(LED_BLUE); |
eisd | 5:7af5760d7e8f | 226 | //while(1){FF();wait(0.01);} |
eisd | 6:3482f1e19d71 | 227 | //float b = 1.0f; |
eisd | 3:9091adbed369 | 228 | WiiChuck nun(PTE0, PTE1, pc); |
eisd | 2:04fdd571a385 | 229 | RFM69 radio(PTD2, PTD3, PTC5, PTD0, PTA13); |
eisd | 2:04fdd571a385 | 230 | #else |
eisd | 2:04fdd571a385 | 231 | WiiChuck nun(p9, p10, pc); |
eisd | 2:04fdd571a385 | 232 | #endif |
eisd | 2:04fdd571a385 | 233 | |
eisd | 6:3482f1e19d71 | 234 | gnd = 0; |
eisd | 6:3482f1e19d71 | 235 | ir.period_us(1000/38); |
eisd | 6:3482f1e19d71 | 236 | |
eisd | 7:f720032c2fb9 | 237 | speaker_gnd = 0; |
eisd | 7:f720032c2fb9 | 238 | speaker = 0; |
eisd | 7:f720032c2fb9 | 239 | //speaker.period(1.0/200000.0); |
eisd | 7:f720032c2fb9 | 240 | |
eisd | 7:f720032c2fb9 | 241 | /* |
eisd | 7:f720032c2fb9 | 242 | speaker = 0.2; |
eisd | 7:f720032c2fb9 | 243 | while(1) { |
eisd | 7:f720032c2fb9 | 244 | speaker.period(.8/554.365); |
eisd | 7:f720032c2fb9 | 245 | wait(.8); |
eisd | 7:f720032c2fb9 | 246 | speaker.period(.8/523.251); |
eisd | 7:f720032c2fb9 | 247 | wait(.8); |
eisd | 7:f720032c2fb9 | 248 | } |
eisd | 7:f720032c2fb9 | 249 | //speaker = 0.2; |
eisd | 7:f720032c2fb9 | 250 | // set up a timer to be used for sample rate interrupts |
eisd | 7:f720032c2fb9 | 251 | Ticker Sample_Period; |
eisd | 7:f720032c2fb9 | 252 | // precompute 128 sample points on one sine wave cycle |
eisd | 7:f720032c2fb9 | 253 | // used for continuous sine wave output later |
eisd | 7:f720032c2fb9 | 254 | for(int k=0; k<128; k++) { |
eisd | 7:f720032c2fb9 | 255 | wave[k]=((1.0 + sin((float(k)/128.0*6.28318530717959)))/2.0); |
eisd | 7:f720032c2fb9 | 256 | // scale the sine wave from 0.0 to 1.0 - as needed for AnalogOut arg |
eisd | 7:f720032c2fb9 | 257 | } |
eisd | 7:f720032c2fb9 | 258 | // turn on timer interrupts to start sine wave output |
eisd | 7:f720032c2fb9 | 259 | // sample rate is 500Hz with 128 samples per cycle on sine wave |
eisd | 7:f720032c2fb9 | 260 | while(1) { |
eisd | 7:f720032c2fb9 | 261 | Sample_Period.detach(); |
eisd | 7:f720032c2fb9 | 262 | Sample_Period.attach(&Sample_timer_interrupt, 1.0/(554.365*128)); |
eisd | 7:f720032c2fb9 | 263 | wait(.8); |
eisd | 7:f720032c2fb9 | 264 | Sample_Period.detach(); |
eisd | 7:f720032c2fb9 | 265 | Sample_Period.attach(&Sample_timer_interrupt, 1.0/(523.251*128)); |
eisd | 7:f720032c2fb9 | 266 | wait(.8); |
eisd | 7:f720032c2fb9 | 267 | } |
eisd | 7:f720032c2fb9 | 268 | // everything else needed is already being done by the interrupt routine |
eisd | 7:f720032c2fb9 | 269 | */ |
eisd | 7:f720032c2fb9 | 270 | |
eisd | 5:7af5760d7e8f | 271 | nunchuk n1, n2; |
eisd | 5:7af5760d7e8f | 272 | nunchuk *n = &n1, *next = &n2; |
eisd | 5:7af5760d7e8f | 273 | bool sender = nun.Read(&n->X, &n->Y, &n->aX, &n->aY, &n->aZ, &n->C, &n->Z); |
eisd | 4:c9711f0cd097 | 274 | if (sender) { |
eisd | 4:c9711f0cd097 | 275 | pc.printf("chuck attached\r\n"); |
eisd | 4:c9711f0cd097 | 276 | radio.initialize(FREQUENCY, NODE_ID, NETWORKID); |
eisd | 4:c9711f0cd097 | 277 | } else { |
eisd | 4:c9711f0cd097 | 278 | pc.printf("chuck unavailable\r\n"); |
eisd | 4:c9711f0cd097 | 279 | radio.initialize(FREQUENCY, GATEWAY_ID, NETWORKID); |
eisd | 5:7af5760d7e8f | 280 | thread = new Thread(ir_thread); |
eisd | 5:7af5760d7e8f | 281 | } |
eisd | 3:9091adbed369 | 282 | radio.encrypt("0123456789054321"); |
eisd | 2:04fdd571a385 | 283 | //radio.promiscuous(false); |
eisd | 3:9091adbed369 | 284 | radio.setHighPower(true); |
eisd | 3:9091adbed369 | 285 | radio.setPowerLevel(20); |
eisd | 3:9091adbed369 | 286 | radio.rcCalibration(); |
eisd | 2:04fdd571a385 | 287 | //radio.readAllRegs(); |
eisd | 2:04fdd571a385 | 288 | pc.printf("temp %d\r\n", radio.readTemperature(-1)); |
eisd | 1:de8c34c9ccdf | 289 | |
eisd | 6:3482f1e19d71 | 290 | bool read = false; |
eisd | 1:de8c34c9ccdf | 291 | while(1) { |
eisd | 7:f720032c2fb9 | 292 | if (sender) { |
eisd | 5:7af5760d7e8f | 293 | read = nun.Read(&n->X, &n->Y, &n->aX, &n->aY, &n->aZ, &n->C, &n->Z); |
eisd | 7:f720032c2fb9 | 294 | n->sum = 0; |
eisd | 7:f720032c2fb9 | 295 | n->sum = calculate_crc8((char*)n, sizeof(struct nunchuk)); |
eisd | 7:f720032c2fb9 | 296 | } |
eisd | 6:3482f1e19d71 | 297 | else if (radio.receiveDone()) { |
eisd | 7:f720032c2fb9 | 298 | //pc.printf("rssi %d\r\n", radio.RSSI); |
eisd | 4:c9711f0cd097 | 299 | read = (radio.DATALEN == sizeof(struct nunchuk)); |
eisd | 5:7af5760d7e8f | 300 | if (read) { |
eisd | 6:3482f1e19d71 | 301 | memcpy((void*)next, (const void*)radio.DATA, radio.DATALEN); |
eisd | 7:f720032c2fb9 | 302 | uint8_t sum = next->sum; |
eisd | 7:f720032c2fb9 | 303 | next->sum = 0; |
eisd | 7:f720032c2fb9 | 304 | read = sum == calculate_crc8((char*)next, sizeof(struct nunchuk)); |
eisd | 7:f720032c2fb9 | 305 | if (read) { |
eisd | 7:f720032c2fb9 | 306 | nunchuk *last = n; |
eisd | 7:f720032c2fb9 | 307 | n = next; |
eisd | 7:f720032c2fb9 | 308 | next = last; |
eisd | 7:f720032c2fb9 | 309 | } |
eisd | 7:f720032c2fb9 | 310 | } |
eisd | 7:f720032c2fb9 | 311 | if (!read) |
eisd | 7:f720032c2fb9 | 312 | pc.printf("len %d\r\n", radio.DATALEN); |
eisd | 4:c9711f0cd097 | 313 | } |
eisd | 1:de8c34c9ccdf | 314 | if(read) |
eisd | 1:de8c34c9ccdf | 315 | { |
eisd | 7:f720032c2fb9 | 316 | Siren_state(n->C); |
eisd | 8:5f933580b560 | 317 | Headlight_state(n->C, n->Z); |
eisd | 5:7af5760d7e8f | 318 | float x = n->X - 128, y = n->Y - 128; |
eisd | 3:9091adbed369 | 319 | float R = x*x + y*y, p = atan2(y, x) * 4 / M_PI - 0.5; |
eisd | 1:de8c34c9ccdf | 320 | int c = 0; |
eisd | 3:9091adbed369 | 321 | if (p > -4) c = 0; |
eisd | 3:9091adbed369 | 322 | if (p > -3) c = 1; |
eisd | 3:9091adbed369 | 323 | if (p > -2) c = 2; |
eisd | 3:9091adbed369 | 324 | if (p > -1) c = 3; |
eisd | 3:9091adbed369 | 325 | if (p > 0) c = 4; |
eisd | 3:9091adbed369 | 326 | if (p > 1) c = 5; |
eisd | 3:9091adbed369 | 327 | if (p > 2) c = 6; |
eisd | 3:9091adbed369 | 328 | if (p > 3) c = 7; |
eisd | 5:7af5760d7e8f | 329 | direction = c; |
eisd | 1:de8c34c9ccdf | 330 | |
eisd | 6:3482f1e19d71 | 331 | #if DEBUG |
eisd | 6:3482f1e19d71 | 332 | pc.printf("%d: ", sizeof(struct nunchuk)); |
eisd | 6:3482f1e19d71 | 333 | pc.printf("x%3d y%3d c%1d z%1d --", n->X, n->Y, n->C, n->Z); |
eisd | 6:3482f1e19d71 | 334 | pc.printf("x%d y%d z%d -- %.3f %s \r\n", n->aX, n->aY, n->aZ, R, direction);//s[c]); |
eisd | 3:9091adbed369 | 335 | |
eisd | 3:9091adbed369 | 336 | //radio.send(GATEWAY_ID, (const void*)"AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA", 50, false); |
eisd | 3:9091adbed369 | 337 | #endif |
eisd | 4:c9711f0cd097 | 338 | if (sender) |
eisd | 6:3482f1e19d71 | 339 | radio.send(GATEWAY_ID, (const void*)n, sizeof(struct nunchuk), false); |
eisd | 3:9091adbed369 | 340 | |
eisd | 1:de8c34c9ccdf | 341 | #ifdef TARGET_KL25Z |
eisd | 3:9091adbed369 | 342 | if (R < 20) { |
eisd | 3:9091adbed369 | 343 | if (!central) { |
eisd | 3:9091adbed369 | 344 | pc.printf("central\r\n"); |
eisd | 3:9091adbed369 | 345 | central = true; |
eisd | 3:9091adbed369 | 346 | } |
eisd | 1:de8c34c9ccdf | 347 | r = 1.0f; |
eisd | 1:de8c34c9ccdf | 348 | g = 1.0f; |
eisd | 1:de8c34c9ccdf | 349 | b = 1.0f; |
eisd | 1:de8c34c9ccdf | 350 | } else { |
eisd | 3:9091adbed369 | 351 | if (central) { |
eisd | 6:3482f1e19d71 | 352 | pc.printf("go %s\r\n", directions[direction]); |
eisd | 3:9091adbed369 | 353 | central = false; |
eisd | 3:9091adbed369 | 354 | } |
eisd | 3:9091adbed369 | 355 | R = R/20000; |
eisd | 1:de8c34c9ccdf | 356 | float pal[8][3] = { |
eisd | 1:de8c34c9ccdf | 357 | { 0, 0, 1 }, |
eisd | 1:de8c34c9ccdf | 358 | { 0, 1, 1 }, |
eisd | 1:de8c34c9ccdf | 359 | { 0, 1, 0 }, |
eisd | 1:de8c34c9ccdf | 360 | { 1, 1, 0 }, |
eisd | 1:de8c34c9ccdf | 361 | { 1, 0.5, 0 }, |
eisd | 1:de8c34c9ccdf | 362 | { 1, 0, 0 }, |
eisd | 1:de8c34c9ccdf | 363 | { 1, 0, 1 }, |
eisd | 1:de8c34c9ccdf | 364 | { 0.5, 0, 1 }, |
eisd | 1:de8c34c9ccdf | 365 | }; |
eisd | 6:3482f1e19d71 | 366 | c = (c + 4) % 8; |
eisd | 1:de8c34c9ccdf | 367 | r = 1.0f - pal[c][0] * R; |
eisd | 1:de8c34c9ccdf | 368 | g = 1.0f - pal[c][1] * R; |
eisd | 1:de8c34c9ccdf | 369 | b = 1.0f - pal[c][2] * R; |
eisd | 1:de8c34c9ccdf | 370 | } |
eisd | 1:de8c34c9ccdf | 371 | #endif |
eisd | 1:de8c34c9ccdf | 372 | } |
eisd | 4:c9711f0cd097 | 373 | else if (sender) |
eisd | 1:de8c34c9ccdf | 374 | { |
eisd | 1:de8c34c9ccdf | 375 | pc.printf("Error\r\n"); |
eisd | 3:9091adbed369 | 376 | return 0; |
eisd | 1:de8c34c9ccdf | 377 | } |
eisd | 4:c9711f0cd097 | 378 | if (sender) |
eisd | 4:c9711f0cd097 | 379 | wait(0.01); |
eisd | 5:7af5760d7e8f | 380 | else |
eisd | 5:7af5760d7e8f | 381 | Thread::wait(10); |
eisd | 1:de8c34c9ccdf | 382 | } |
eisd | 1:de8c34c9ccdf | 383 | } |