Diff: main.cpp

Revision:

5:7af5760d7e8f

Parent:

4:c9711f0cd097

Child:

6:3482f1e19d71

--- a/main.cpp	Fri Jun 19 13:05:57 2015 +0000
+++ b/main.cpp	Mon Jun 06 13:14:07 2016 +0000
@@ -1,4 +1,5 @@
 #include "mbed.h"
+#include "rtos.h"
 #ifndef M_PI
 #define M_PI           3.14159265358979323846
 #endif
@@ -18,37 +19,164 @@
 //#define FREQUENCY     RF69_915MHZ
 
 const char *directions[8] = { "XR", "RR", "RX", "FR", "FX", "FF", "XF", "RF" };
-    
-#ifndef USBSerial
+
+#ifdef USBSerial
+    USBSerial pc;
+#else
     Serial pc(USBTX, USBRX);
 #endif
+
+#if TARGET_KL25Z
+DigitalOut gnd(PTC0);
+PwmOut ir(PTD4);
+#endif
+#define pulse(x, y) ir = 0.5; wait_us(x); ir = 0.0; wait_us(y); 
+
+/* generated in bash from lirc raw codes */
+/*
+f=duplo.conf
+sed -n '/begin raw_codes/,/end raw_codes/s/name //p' $f|
+    while read n; do
+        echo -e "void $n() {$(
+            grep $n -A 1 $f|tail -n1|
+                sed 's/$/ 1000/;s@\([0-9]\+\)[[:space:]]\+\([0-9]\+\)[[:space:]]*@\n\tpulse(\1, \2);@g'
+        )\n}"
+    done
+*/
+
+void FX() {
+    pulse(1042, 208);
+    pulse(208, 208);
+    pulse(208, 562);
+    pulse(625, 208);
+    pulse(208, 625);
+    pulse(208, 1);
+}
+void XF() {
+    pulse(229, 604);
+    pulse(229, 188);
+    pulse(229, 188);
+    pulse(438, 333);
+    pulse(625, 208);
+    pulse(1250, 1);
+}
+void FF() {
+    pc.printf("FF\r\n");
+    pulse(208, 625);
+    pulse(208, 208);
+    pulse(208, 208);
+    pulse(417, 354);
+    pulse(208, 208);
+    pulse(208, 1042);
+    pulse(208, 1);
+}
+void RX() {
+    pulse(1042, 208);
+    pulse(208, 188);
+    pulse(229, 542);
+    pulse(646, 1);
+}
+void XR() {
+    pulse(208, 1042);
+    pulse(208, 188);
+    pulse(229, 542);
+    pulse(625, 417);
+    pulse(854, 1);
+}
+void RR() {
+    pulse(229, 1021);
+    pulse(229, 208);
+    pulse(208, 542);
+    pulse(229, 188);
+    pulse(229, 1229);
+    pulse(229, 1);
+}
+void RF() {
+    pulse(208, 625);
+    pulse(208, 208);
+    pulse(208, 208);
+    pulse(417, 333);
+    pulse(208, 208);
+    pulse(208, 208);
+    pulse(208, 1);
+}
+void FR() {
+    pulse(229, 1021);
+    pulse(229, 188);
+    pulse(229, 542);
+    pulse(208, 208);
+    pulse(208, 208);
+    pulse(208, 625);
+    pulse(417, 1);
+}
+void BB() {
+    pulse(1042, 208);
+    pulse(208, 208);
+    pulse(208, 542);
+    pulse(208, 417);
+    pulse(208, 208);
+    pulse(1042, 1);
+}
+
+bool central = true;
+int direction = -1;
+Thread *thread;
+void ir_thread(void const *args) {
+    while(1) {
+        //if (!central)
+            for(int x = 0; x < 5; x++) {
+                pc.printf("direction %d\r\n", direction);//directions[direction]);
+                if (central)
+                    BB();
+                else
+                switch(direction) {
+                    case 0: XR(); break;
+                    case 1: RR(); break;
+                    case 2: RX(); break;
+                    case 3: FR(); break;
+                    case 4: FX(); break;
+                    case 5: FF(); break;
+                    case 6: XF(); break;
+                    case 7: RF(); break;
+                }
+                Thread::wait(20);
+            }
+            Thread::wait(50);
+    }
+}
+
 int main() {
+    gnd = 0;
+    ir.period(1.0/38000.0);
 #ifndef USBSerial
     pc.baud(115200);
 #endif
 
 #ifdef TARGET_KL25Z
-    PwmOut r(LED_RED);
-    r = 1.0f;
-    PwmOut g(LED_GREEN);
-    g = 1.0f;
-    PwmOut b(LED_BLUE);
-    b = 1.0f;
+    //PwmOut r(LED_RED);
+    float r = 1.0f;
+    //PwmOut g(LED_GREEN);
+    float g = 1.0f;
+    //while(1){FF();wait(0.01);}
+    //PwmOut b(LED_BLUE);
+    float b = 1.0f;
     WiiChuck nun(PTE0, PTE1, pc);
     RFM69 radio(PTD2, PTD3, PTC5, PTD0, PTA13);
 #else
     WiiChuck nun(p9, p10, pc);
 #endif
 
-    nunchuk n;
-    bool sender = nun.Read(&n.X, &n.Y, &n.aX, &n.aY, &n.aZ, &n.C, &n.Z);
+    nunchuk n1, n2;
+    nunchuk *n = &n1, *next = &n2;
+    bool sender = nun.Read(&n->X, &n->Y, &n->aX, &n->aY, &n->aZ, &n->C, &n->Z);
     if (sender) {
         pc.printf("chuck attached\r\n");
         radio.initialize(FREQUENCY, NODE_ID, NETWORKID);
     } else {
         pc.printf("chuck unavailable\r\n");
         radio.initialize(FREQUENCY, GATEWAY_ID, NETWORKID);
-    }    
+        thread = new Thread(ir_thread);
+   }    
     radio.encrypt("0123456789054321");
     //radio.promiscuous(false);
     radio.setHighPower(true);
@@ -57,20 +185,25 @@
     //radio.readAllRegs();
     pc.printf("temp %d\r\n", radio.readTemperature(-1));
 
-    bool read, central = true;
+    bool read;
     while(1) {
         if (sender)
-            read = nun.Read(&n.X, &n.Y, &n.aX, &n.aY, &n.aZ, &n.C, &n.Z);
+            read = nun.Read(&n->X, &n->Y, &n->aX, &n->aY, &n->aZ, &n->C, &n->Z);
         else {
             radio.receive();
-            printf("len %d\r\n", radio.DATALEN);
+            printf("rssi %d\r\n", radio.RSSI);
             read = (radio.DATALEN == sizeof(struct nunchuk));
-            if (read)
-                memcpy((void*)&n, (const void*)radio.DATA, radio.DATALEN);
+            if (read) {
+                memcpy((void*)&next, (const void*)radio.DATA, radio.DATALEN);
+                nunchuk *last = n;
+                n = next;
+                next = last;
+            } else
+                printf("len %d\r\n", radio.DATALEN);
         }
         if(read)
         {
-            float x = n.X - 128, y = n.Y - 128;
+            float x = n->X - 128, y = n->Y - 128;
             float R = x*x + y*y, p = atan2(y, x) * 4 / M_PI - 0.5;
             int c = 0;
             if (p > -4) c = 0;
@@ -81,6 +214,7 @@
             if (p >  1) c = 5;
             if (p >  2) c = 6;
             if (p >  3) c = 7;
+            direction = c;
 
 #ifdef DEBUG
             pc.printf("x%3d y%3d c%1d z%1d --", n.X, n.Y, n.C, n.Z);
@@ -129,5 +263,7 @@
         }
         if (sender)
             wait(0.01);
+        else
+            Thread::wait(10);
     }
 }