현성 김 / Mbed 2 deprecated 181202_Castone_design_master

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Dependencies:   mbed nRF24L01P

main.cpp@1:450bd5ee8cdc, 2018-11-03 (annotated)

Committer:
hyunsungkim
Date:
Sat Nov 03 13:58:06 2018 +0000
Revision:
1:450bd5ee8cdc
Parent:
0:2dade6db4d3a
Child:
2:4d2d1b988c14
??? ?? - ???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hyunsungkim 0:2dade6db4d3a 1 #include "mbed.h"
hyunsungkim 0:2dade6db4d3a 2 #include "RF24.h"
hyunsungkim 0:2dade6db4d3a 3 #include "tone.h"
hyunsungkim 0:2dade6db4d3a 4
hyunsungkim 0:2dade6db4d3a 5 Serial pc(USBTX, USBRX);
hyunsungkim 0:2dade6db4d3a 6 Serial lidar(D1, D0);
hyunsungkim 0:2dade6db4d3a 7 PwmOut motor_RA(D9);
hyunsungkim 0:2dade6db4d3a 8 PwmOut motor_RB(D10);
hyunsungkim 0:2dade6db4d3a 9 PwmOut motor_LA(D3);
hyunsungkim 0:2dade6db4d3a 10 PwmOut motor_LB(D6);
hyunsungkim 0:2dade6db4d3a 11 PwmOut led_B(A1);
hyunsungkim 0:2dade6db4d3a 12 PwmOut led_G(A2);
hyunsungkim 0:2dade6db4d3a 13 PwmOut led_R(A5);
hyunsungkim 0:2dade6db4d3a 14 PwmOut buzzer(D5);
hyunsungkim 0:2dade6db4d3a 15 RF24 nrf(D11,D12,D13,D2,A3);
hyunsungkim 0:2dade6db4d3a 16 AnalogIn batteryCheck(A0);
hyunsungkim 0:2dade6db4d3a 17
hyunsungkim 0:2dade6db4d3a 18 void startBeep();
hyunsungkim 0:2dade6db4d3a 19 void endBeep();
hyunsungkim 0:2dade6db4d3a 20 void goForward();
hyunsungkim 0:2dade6db4d3a 21
hyunsungkim 1:450bd5ee8cdc 22 uint8_t id = 0; // Listener
hyunsungkim 1:450bd5ee8cdc 23 //uint8_t rxAddr[10][6] = {"BOT0R","BOT1R","BOT2R","BOT3R","BOT4R","BOT5R","BOT6R","BOT7R","BOT8R","BOT9R"};
hyunsungkim 1:450bd5ee8cdc 24 //uint8_t txAddr[10][6] = {"BOT0T","BOT1T","BOT2T","BOT3T","BOT4T","BOT5T","BOT6T","BOT7T","BOT8T","BOT9T"};
hyunsungkim 1:450bd5ee8cdc 25
hyunsungkim 1:450bd5ee8cdc 26 uint8_t rxAddr[6] = "BTOA0";
hyunsungkim 1:450bd5ee8cdc 27 uint8_t txAddr[6] = "ATOB0";
hyunsungkim 0:2dade6db4d3a 28
hyunsungkim 0:2dade6db4d3a 29 int main() {
hyunsungkim 1:450bd5ee8cdc 30 unsigned char inByte;
hyunsungkim 1:450bd5ee8cdc 31
hyunsungkim 0:2dade6db4d3a 32 led_R=1;
hyunsungkim 0:2dade6db4d3a 33 led_G=1;
hyunsungkim 0:2dade6db4d3a 34 led_B=1;
hyunsungkim 0:2dade6db4d3a 35 startBeep();
hyunsungkim 0:2dade6db4d3a 36 pc.baud(115200);
hyunsungkim 0:2dade6db4d3a 37
hyunsungkim 0:2dade6db4d3a 38 nrf.begin();
hyunsungkim 0:2dade6db4d3a 39 nrf.stopListening();
hyunsungkim 1:450bd5ee8cdc 40 nrf.openWritingPipe(txAddr);
hyunsungkim 1:450bd5ee8cdc 41 nrf.openReadingPipe(1,rxAddr);
hyunsungkim 0:2dade6db4d3a 42 nrf.setChannel(101);
hyunsungkim 0:2dade6db4d3a 43
hyunsungkim 0:2dade6db4d3a 44 // Display the (default) setup of the nRF24L01+ chip
hyunsungkim 0:2dade6db4d3a 45 pc.printf( "My ID : %d", id);
hyunsungkim 0:2dade6db4d3a 46 pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", 2000+nrf.getChannel() );
hyunsungkim 0:2dade6db4d3a 47 pc.printf( "nRF24L01+ Output power : %d dBm\r\n", nrf.getPALevel() );
hyunsungkim 0:2dade6db4d3a 48 pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", nrf.getDataRate() );
hyunsungkim 1:450bd5ee8cdc 49 pc.printf( "nRF24L01+ TX Address : 0x%X%X%X%X%X\r\n", rxAddr[0], rxAddr[1], rxAddr[2], rxAddr[3], rxAddr[4]);
hyunsungkim 1:450bd5ee8cdc 50 pc.printf( "nRF24L01+ RX Address : 0x%X%X%X%X%X\r\n", txAddr[0], txAddr[1], txAddr[2], txAddr[3], txAddr[4]);
hyunsungkim 0:2dade6db4d3a 51 pc.printf( "nRF24L01+ CRCWidth : %d Byte\r\n", nrf.getCRCLength() );
hyunsungkim 0:2dade6db4d3a 52
hyunsungkim 0:2dade6db4d3a 53 //goForward();
hyunsungkim 0:2dade6db4d3a 54
hyunsungkim 1:450bd5ee8cdc 55 nrf.startListening();
hyunsungkim 1:450bd5ee8cdc 56
hyunsungkim 0:2dade6db4d3a 57 while(1) {
hyunsungkim 1:450bd5ee8cdc 58 if(nrf.available()) {
hyunsungkim 1:450bd5ee8cdc 59 nrf.read(&inByte, 1);
hyunsungkim 1:450bd5ee8cdc 60 pc.putc(inByte);
hyunsungkim 1:450bd5ee8cdc 61 }
hyunsungkim 0:2dade6db4d3a 62 }
hyunsungkim 0:2dade6db4d3a 63 }
hyunsungkim 0:2dade6db4d3a 64
hyunsungkim 0:2dade6db4d3a 65 void startBeep()
hyunsungkim 0:2dade6db4d3a 66 {
hyunsungkim 0:2dade6db4d3a 67 buzzer.write(0.5);
hyunsungkim 0:2dade6db4d3a 68 buzzer.period_us(1000000/Do5);
hyunsungkim 0:2dade6db4d3a 69 wait(0.1);
hyunsungkim 0:2dade6db4d3a 70 buzzer.period_us(1000000/Mi5);
hyunsungkim 0:2dade6db4d3a 71 wait(0.1);
hyunsungkim 0:2dade6db4d3a 72 buzzer.period_us(1000000/So5);
hyunsungkim 0:2dade6db4d3a 73 wait(0.1);
hyunsungkim 0:2dade6db4d3a 74 buzzer.write(0);
hyunsungkim 0:2dade6db4d3a 75 }
hyunsungkim 0:2dade6db4d3a 76
hyunsungkim 0:2dade6db4d3a 77 void endBeep()
hyunsungkim 0:2dade6db4d3a 78 {
hyunsungkim 0:2dade6db4d3a 79 buzzer.write(0.5);
hyunsungkim 0:2dade6db4d3a 80 buzzer.period_us(1000000/So5);
hyunsungkim 0:2dade6db4d3a 81 wait(0.1);
hyunsungkim 0:2dade6db4d3a 82 buzzer.period_us(1000000/Mi5);
hyunsungkim 0:2dade6db4d3a 83 wait(0.1);
hyunsungkim 0:2dade6db4d3a 84 buzzer.period_us(1000000/Do5);
hyunsungkim 0:2dade6db4d3a 85 wait(0.1);
hyunsungkim 0:2dade6db4d3a 86 buzzer.write(0);
hyunsungkim 0:2dade6db4d3a 87 }
hyunsungkim 0:2dade6db4d3a 88
hyunsungkim 0:2dade6db4d3a 89 void goForward()
hyunsungkim 0:2dade6db4d3a 90 {
hyunsungkim 0:2dade6db4d3a 91 motor_RA = 0.5;
hyunsungkim 0:2dade6db4d3a 92 motor_RB = 0;
hyunsungkim 0:2dade6db4d3a 93 motor_LA = 0;
hyunsungkim 0:2dade6db4d3a 94 motor_LB = 0.5;
hyunsungkim 0:2dade6db4d3a 95 }
hyunsungkim 0:2dade6db4d3a 96
hyunsungkim 0:2dade6db4d3a 97 void onLED(int r, int g, int b)
hyunsungkim 0:2dade6db4d3a 98 {
hyunsungkim 0:2dade6db4d3a 99
hyunsungkim 0:2dade6db4d3a 100 }
hyunsungkim 0:2dade6db4d3a 101
hyunsungkim 0:2dade6db4d3a 102
hyunsungkim 0:2dade6db4d3a 103 /*
hyunsungkim 0:2dade6db4d3a 104
hyunsungkim 0:2dade6db4d3a 105 // The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
hyunsungkim 0:2dade6db4d3a 106 // "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
hyunsungkim 0:2dade6db4d3a 107 // only handles 4 byte transfers in the ATMega code.
hyunsungkim 0:2dade6db4d3a 108 #define TRANSFER_SIZE 4
hyunsungkim 0:2dade6db4d3a 109
hyunsungkim 0:2dade6db4d3a 110 wait(2.0);
hyunsungkim 0:2dade6db4d3a 111
hyunsungkim 0:2dade6db4d3a 112 char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
hyunsungkim 0:2dade6db4d3a 113 int txDataCnt = 0;
hyunsungkim 0:2dade6db4d3a 114 int rxDataCnt = 0;
hyunsungkim 0:2dade6db4d3a 115
hyunsungkim 0:2dade6db4d3a 116 nrf.powerUp();
hyunsungkim 0:2dade6db4d3a 117 nrf.setTxAddress(0xE7E7E7EF, 4);
hyunsungkim 0:2dade6db4d3a 118
hyunsungkim 0:2dade6db4d3a 119 // Display the (default) setup of the nRF24L01+ chip
hyunsungkim 0:2dade6db4d3a 120 pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", nrf.getRfFrequency() );
hyunsungkim 0:2dade6db4d3a 121 pc.printf( "nRF24L01+ Output power : %d dBm\r\n", nrf.getRfOutputPower() );
hyunsungkim 0:2dade6db4d3a 122 pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", nrf.getAirDataRate() );
hyunsungkim 0:2dade6db4d3a 123 pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", nrf.getTxAddress() );
hyunsungkim 0:2dade6db4d3a 124 pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", nrf.getRxAddress() );
hyunsungkim 0:2dade6db4d3a 125 pc.printf( "nRF24L01+ CRCWidth : %d \r\n", nrf.getCrcWidth() );
hyunsungkim 0:2dade6db4d3a 126
hyunsungkim 0:2dade6db4d3a 127 pc.printf( "Type keys to test transfers:\r\n (transfers are grouped into %d characters)\r\n", TRANSFER_SIZE );
hyunsungkim 0:2dade6db4d3a 128
hyunsungkim 0:2dade6db4d3a 129 nrf.setTransferSize( TRANSFER_SIZE );
hyunsungkim 0:2dade6db4d3a 130
hyunsungkim 0:2dade6db4d3a 131 nrf.setReceiveMode();
hyunsungkim 0:2dade6db4d3a 132 nrf.enable();
hyunsungkim 0:2dade6db4d3a 133
hyunsungkim 0:2dade6db4d3a 134 while (1) {
hyunsungkim 0:2dade6db4d3a 135
hyunsungkim 0:2dade6db4d3a 136 // If we've received anything over the host serial link...
hyunsungkim 0:2dade6db4d3a 137 if ( pc.readable() ) {
hyunsungkim 0:2dade6db4d3a 138
hyunsungkim 0:2dade6db4d3a 139 // ...add it to the transmit buffer
hyunsungkim 0:2dade6db4d3a 140 txData[txDataCnt++] = pc.getc();
hyunsungkim 0:2dade6db4d3a 141
hyunsungkim 0:2dade6db4d3a 142 // If the transmit buffer is full
hyunsungkim 0:2dade6db4d3a 143 if ( txDataCnt >= sizeof( txData ) ) {
hyunsungkim 0:2dade6db4d3a 144
hyunsungkim 0:2dade6db4d3a 145 // Send the transmitbuffer via the nRF24L01+
hyunsungkim 0:2dade6db4d3a 146 nrf.write( NRF24L01P_PIPE_P0, txData, txDataCnt );
hyunsungkim 0:2dade6db4d3a 147
hyunsungkim 0:2dade6db4d3a 148 txDataCnt = 0;
hyunsungkim 0:2dade6db4d3a 149 }
hyunsungkim 0:2dade6db4d3a 150 endBeep();
hyunsungkim 0:2dade6db4d3a 151 }
hyunsungkim 0:2dade6db4d3a 152
hyunsungkim 0:2dade6db4d3a 153 // If we've received anything in the nRF24L01+...
hyunsungkim 0:2dade6db4d3a 154 if ( nrf.readable() ) {
hyunsungkim 0:2dade6db4d3a 155
hyunsungkim 0:2dade6db4d3a 156 // ...read the data into the receive buffer
hyunsungkim 0:2dade6db4d3a 157 rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
hyunsungkim 0:2dade6db4d3a 158
hyunsungkim 0:2dade6db4d3a 159 // Display the receive buffer contents via the host serial link
hyunsungkim 0:2dade6db4d3a 160 for ( int i = 0; rxDataCnt > 0; rxDataCnt--, i++ ) {
hyunsungkim 0:2dade6db4d3a 161 pc.putc( rxData[i] );
hyunsungkim 0:2dade6db4d3a 162 }
hyunsungkim 0:2dade6db4d3a 163 startBeep();
hyunsungkim 0:2dade6db4d3a 164 }
hyunsungkim 0:2dade6db4d3a 165 }
hyunsungkim 0:2dade6db4d3a 166 */