main.cpp

00001 #include "mbed.h"
00002 #include "robot.h" // Inicializa o robô. Este include deverá ser usado em todos os main.cpp!
00003 //#include "nRF24L01P.h"
00004 #include <RF24.h>
00005 
00006 #define TRANSFER_SIZE 1
00007 
00008 //nRF24L01P my_nrf24l01p(PTD2, PTD3, PTD1, PTC13, PTC12, PTA13);
00009 RF24 radio(PTD2, PTD3, PTD1,  PTC12 ,PTC13);
00010 
00011 
00012 void config_init_nrf2()
00013 {
00014       int resultado;
00015       resultado = radio.begin();
00016       
00017       pc.printf( "Begin=%d\r\n",  resultado );
00018   radio.setDataRate(RF24_1MBPS);
00019   radio.setCRCLength(RF24_CRC_8);
00020   radio.setPayloadSize(1);
00021   radio.setChannel(101);
00022   radio.setAutoAck(true);
00023   radio.printDetails();
00024 
00025   radio.openWritingPipe(0x314e6f6465);
00026   radio.openReadingPipe(1,0x324e6f6465 );
00027 
00028   radio.startListening();
00029 }
00030 
00031 int main()
00032 {
00033     char txData, rxData;
00034 
00035 
00036     initRobot();
00037     pc.baud(9600);
00038     config_init_nrf2(); // Should be after pc.baud()
00039     
00040     pc.printf( "Robot A\r\n" );
00041     
00042 
00043     // Desliga os LEDs.
00044     q_led_red_fro = 1;  //Led Red Front
00045     q_led_gre_fro = 1;  //Led Green Front
00046     q_led_blu_fro = 1;  //Led Blue Front
00047     q_led_red_rea = 1;  //Led Red Rear
00048     q_led_gre_rea = 1;  //Led Green Rear
00049     q_led_blu_rea = 1;  //Led Blue Rear
00050 
00051     while (1) {
00052 
00053         // If we've received anything over the host serial link...
00054         if ( pc.readable() ) {
00055 
00056             // ...add it to the transmit buffer
00057             txData = pc.getc();
00058         
00059                 // Send the transmitbuffer via the nRF24L01+
00060                 //pc.printf( "Vou enviar: %c\r\n",txData);
00061                  radio.stopListening();
00062                 radio.write( &txData, sizeof(txData) );
00063                 radio.startListening();
00064 
00065 
00066             // Toggle LED1 (to help debug Host -> nRF24L01+ communication)
00067             q_led_red_fro = !q_led_red_fro;
00068         }
00069 
00070         // If we've received anything in the nRF24L01+...
00071         if (radio.available() ) {
00072 
00073             // ...read the data into the receive buffer
00074             //my_nrf24l01p.read( NRF24L01P_PIPE_P0, &rxData, sizeof( rxData ) );
00075             radio.read( &rxData, sizeof(rxData) );
00076 
00077  
00078 
00079                 pc.putc( rxData );
00080 
00081 
00082             // Toggle LED2 (to help debug nRF24L01+ -> Host communication)
00083             q_led_red_rea = !q_led_red_rea;
00084         }
00085     }
00086 }