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Dependencies:   mbed nRF24L01P

main.cpp@11:1b56bb8ccd04, 2018-11-25 (annotated)

Committer:
hyunsungkim
Date:
Sun Nov 25 12:39:01 2018 +0000
Branch:
RF24_library_test_tx
Revision:
11:1b56bb8ccd04
Parent:
10:02d3ca034103
Child:
12:cf6cbf1d1ebf
13?? ??? ??? ? ? ?? ??? ??? ?? ??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hyunsungkim 0:2dade6db4d3a 1 #include "mbed.h"
hyunsungkim 8:78294b936c70 2 #include "nRF24L01P.h"
hyunsungkim 3:690740ab3394 3 #include "beep.h"
hyunsungkim 3:690740ab3394 4
hyunsungkim 8:78294b936c70 5 #define PING 1
hyunsungkim 8:78294b936c70 6 #define PONG 2
hyunsungkim 3:690740ab3394 7
hyunsungkim 10:02d3ca034103 8 #define ROLE PONG
hyunsungkim 10:02d3ca034103 9 #define ID 0
hyunsungkim 10:02d3ca034103 10
hyunsungkim 3:690740ab3394 11 #define nrf_CE D2
hyunsungkim 3:690740ab3394 12 #define nrf_CSN A3
hyunsungkim 3:690740ab3394 13 #define spi_SCK D13
hyunsungkim 3:690740ab3394 14 #define spi_MOSI D11
hyunsungkim 3:690740ab3394 15 #define spi_MISO D12
hyunsungkim 8:78294b936c70 16 #define spi_IRQ D4
hyunsungkim 8:78294b936c70 17
hyunsungkim 8:78294b936c70 18 #define TRANSFER_SIZE 14
hyunsungkim 8:78294b936c70 19
hyunsungkim 8:78294b936c70 20 nRF24L01P nrf(spi_MOSI, spi_MISO, spi_SCK, nrf_CSN, nrf_CE, spi_IRQ); // mosi, miso, sck, csn, ce, irq
hyunsungkim 8:78294b936c70 21
hyunsungkim 0:2dade6db4d3a 22 Serial pc(USBTX, USBRX);
hyunsungkim 0:2dade6db4d3a 23 Serial lidar(D1, D0);
hyunsungkim 8:78294b936c70 24
hyunsungkim 0:2dade6db4d3a 25 PwmOut motor_RA(D9);
hyunsungkim 0:2dade6db4d3a 26 PwmOut motor_RB(D10);
hyunsungkim 0:2dade6db4d3a 27 PwmOut motor_LA(D3);
hyunsungkim 0:2dade6db4d3a 28 PwmOut motor_LB(D6);
hyunsungkim 4:ae81aeeed069 29 PwmOut led_B(A5);
hyunsungkim 0:2dade6db4d3a 30 PwmOut led_G(A2);
hyunsungkim 4:ae81aeeed069 31 PwmOut led_R(A1);
hyunsungkim 0:2dade6db4d3a 32 PwmOut buzzer(D5);
hyunsungkim 0:2dade6db4d3a 33 AnalogIn batteryCheck(A0);
hyunsungkim 0:2dade6db4d3a 34
hyunsungkim 8:78294b936c70 35 void beepStart();
hyunsungkim 8:78294b936c70 36 void endBeep();
hyunsungkim 10:02d3ca034103 37 void initNRF(int role);
hyunsungkim 11:1b56bb8ccd04 38 void dumpRFInfo();
hyunsungkim 11:1b56bb8ccd04 39 void turnWheel(int rspd, int lspd);
hyunsungkim 10:02d3ca034103 40 void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData);
hyunsungkim 8:78294b936c70 41
hyunsungkim 6:42ecdff5956a 42
hyunsungkim 0:2dade6db4d3a 43 int main() {
hyunsungkim 10:02d3ca034103 44 int role = ROLE;
hyunsungkim 10:02d3ca034103 45 int id=0;
hyunsungkim 8:78294b936c70 46 char txData[TRANSFER_SIZE];
hyunsungkim 8:78294b936c70 47 int txDataCnt = 0;
hyunsungkim 8:78294b936c70 48 char rxData[TRANSFER_SIZE];
hyunsungkim 8:78294b936c70 49 int rxDataCnt = 0;
hyunsungkim 6:42ecdff5956a 50
hyunsungkim 8:78294b936c70 51 beepStart();
hyunsungkim 0:2dade6db4d3a 52 pc.baud(115200);
hyunsungkim 11:1b56bb8ccd04 53 initNRF(role);
hyunsungkim 11:1b56bb8ccd04 54 dumpRFInfo();
hyunsungkim 0:2dade6db4d3a 55
hyunsungkim 10:02d3ca034103 56 while(1) {
hyunsungkim 10:02d3ca034103 57 if(role == PING) {
hyunsungkim 10:02d3ca034103 58 int id = 1;
hyunsungkim 11:1b56bb8ccd04 59 int lspeed=-40;
hyunsungkim 11:1b56bb8ccd04 60 int rspeed=50;
hyunsungkim 10:02d3ca034103 61 //printf("transmitting\r\n");
hyunsungkim 10:02d3ca034103 62 txDataCnt++;
hyunsungkim 10:02d3ca034103 63 getPayload(id, txDataCnt, lspeed, rspeed, txData);
hyunsungkim 10:02d3ca034103 64 //char txData_[] = "123456789ABCD";
hyunsungkim 10:02d3ca034103 65 pc.printf("PING:%s\r\n", txData);
hyunsungkim 10:02d3ca034103 66 nrf.write(NRF24L01P_PIPE_P0, txData, TRANSFER_SIZE);
hyunsungkim 10:02d3ca034103 67 wait(0.2);
hyunsungkim 10:02d3ca034103 68 }
hyunsungkim 10:02d3ca034103 69 else if(role == PONG) {
hyunsungkim 10:02d3ca034103 70 if ( nrf.readable() ) {
hyunsungkim 10:02d3ca034103 71 rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
hyunsungkim 10:02d3ca034103 72 printf("%s\r\n", rxData);
hyunsungkim 11:1b56bb8ccd04 73 int rspd = (rxData[8]-'0')*10+(rxData[9]-'0');
hyunsungkim 11:1b56bb8ccd04 74 int lspd = (rxData[11]-'0')*10+(rxData[12]-'0');
hyunsungkim 11:1b56bb8ccd04 75 if(rxData[7]=='-')
hyunsungkim 11:1b56bb8ccd04 76 rspd = -rspd;
hyunsungkim 11:1b56bb8ccd04 77 if(rxData[10]=='-')
hyunsungkim 11:1b56bb8ccd04 78 lspd = -lspd;
hyunsungkim 11:1b56bb8ccd04 79 turnWheel(rspd, lspd);
hyunsungkim 11:1b56bb8ccd04 80 printf("%d, %d\r\n", rspd,lspd);
hyunsungkim 10:02d3ca034103 81 }
hyunsungkim 10:02d3ca034103 82 }
hyunsungkim 10:02d3ca034103 83 }
hyunsungkim 10:02d3ca034103 84 }
hyunsungkim 10:02d3ca034103 85
hyunsungkim 10:02d3ca034103 86 void turnWheel(int rspd, int lspd)
hyunsungkim 10:02d3ca034103 87 {
hyunsungkim 10:02d3ca034103 88 if(rspd>0) {
hyunsungkim 10:02d3ca034103 89 motor_RA.write((float)rspd/100);
hyunsungkim 10:02d3ca034103 90 motor_RB = 0;
hyunsungkim 10:02d3ca034103 91 } else {
hyunsungkim 11:1b56bb8ccd04 92 rspd=-rspd;
hyunsungkim 10:02d3ca034103 93 motor_RB.write((float)rspd/100);
hyunsungkim 10:02d3ca034103 94 motor_RA = 0;
hyunsungkim 10:02d3ca034103 95 }
hyunsungkim 10:02d3ca034103 96 if(lspd>0) {
hyunsungkim 10:02d3ca034103 97 motor_LA.write((float)lspd/100);
hyunsungkim 11:1b56bb8ccd04 98 motor_LB = 0;
hyunsungkim 10:02d3ca034103 99 } else {
hyunsungkim 11:1b56bb8ccd04 100 lspd = -lspd;
hyunsungkim 10:02d3ca034103 101 motor_LB.write((float)lspd/100);
hyunsungkim 11:1b56bb8ccd04 102 motor_LA = 0;
hyunsungkim 10:02d3ca034103 103 }
hyunsungkim 10:02d3ca034103 104 }
hyunsungkim 10:02d3ca034103 105
hyunsungkim 10:02d3ca034103 106 void dumpRFInfo()
hyunsungkim 10:02d3ca034103 107 {
hyunsungkim 10:02d3ca034103 108 printf( "nRF24L01+ Frequency : %d MHz\r\n", nrf.getRfFrequency() );
hyunsungkim 10:02d3ca034103 109 printf( "nRF24L01+ Output power : %d dBm\r\n", nrf.getRfOutputPower() );
hyunsungkim 10:02d3ca034103 110 printf( "nRF24L01+ Data Rate : %d kbps\r\n", nrf.getAirDataRate() );
hyunsungkim 10:02d3ca034103 111 printf( "nRF24L01+ TX Address : 0x%010llX\r\n", nrf.getTxAddress() );
hyunsungkim 10:02d3ca034103 112 printf( "nRF24L01+ RX Address : 0x%010llX\r\n", nrf.getRxAddress() );
hyunsungkim 10:02d3ca034103 113 }
hyunsungkim 10:02d3ca034103 114
hyunsungkim 10:02d3ca034103 115 void initNRF(int role)
hyunsungkim 10:02d3ca034103 116 {
hyunsungkim 8:78294b936c70 117 if(role == PING) {
hyunsungkim 8:78294b936c70 118 nrf.setTxAddress(0xDEADBEEF0F);
hyunsungkim 8:78294b936c70 119 nrf.powerUp();
hyunsungkim 8:78294b936c70 120 nrf.setTransferSize( TRANSFER_SIZE );
hyunsungkim 8:78294b936c70 121 nrf.setTransmitMode();
hyunsungkim 8:78294b936c70 122 nrf.enable();
hyunsungkim 8:78294b936c70 123 } else {
hyunsungkim 8:78294b936c70 124 nrf.setRxAddress(0xDEADBEEF0F);
hyunsungkim 8:78294b936c70 125 nrf.powerUp();
hyunsungkim 8:78294b936c70 126 nrf.setTransferSize( TRANSFER_SIZE );
hyunsungkim 8:78294b936c70 127 nrf.setReceiveMode();
hyunsungkim 8:78294b936c70 128 nrf.enable();
hyunsungkim 0:2dade6db4d3a 129 }
hyunsungkim 8:78294b936c70 130 }
hyunsungkim 8:78294b936c70 131
hyunsungkim 10:02d3ca034103 132 void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData)
hyunsungkim 10:02d3ca034103 133 {
hyunsungkim 10:02d3ca034103 134 *(txData+0) = id/10+'0';
hyunsungkim 10:02d3ca034103 135 *(txData+1) = id%10+'0';
hyunsungkim 10:02d3ca034103 136 *(txData+2) = count/10000+'0';
hyunsungkim 10:02d3ca034103 137 *(txData+3) = count/1000%10+'0';
hyunsungkim 10:02d3ca034103 138 *(txData+4) = count/100%10+'0';
hyunsungkim 10:02d3ca034103 139 *(txData+5) = count/10%10+'0';
hyunsungkim 10:02d3ca034103 140 *(txData+6) = count%10+'0';
hyunsungkim 10:02d3ca034103 141 *(txData+7) = lspeed>0?'+':'-';
hyunsungkim 10:02d3ca034103 142 *(txData+8) = abs(lspeed)/10+'0';
hyunsungkim 10:02d3ca034103 143 *(txData+9) = abs(lspeed)%10+'0';
hyunsungkim 10:02d3ca034103 144 *(txData+10) = rspeed>0?'+':'-';
hyunsungkim 10:02d3ca034103 145 *(txData+11) = abs(rspeed)/10+'0';
hyunsungkim 10:02d3ca034103 146 *(txData+12) = abs(rspeed)%10+'0';
hyunsungkim 10:02d3ca034103 147 *(txData+13) = '\0';
hyunsungkim 10:02d3ca034103 148 }