현성 김 / Mbed 2 deprecated 181202_Castone_design_master

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed nRF24L01P

main.cpp@2:4d2d1b988c14, 2018-11-03 (annotated)

Committer:
hyunsungkim
Date:
Sat Nov 03 14:06:28 2018 +0000
Revision:
2:4d2d1b988c14
Parent:
1:450bd5ee8cdc
Child:
3:690740ab3394
?????-????

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 2:4d2d1b988c14 26 uint8_t txAddr[6] = "BTOA0";
hyunsungkim 2:4d2d1b988c14 27 uint8_t rxAddr[6] = "ATOB0";
hyunsungkim 0:2dade6db4d3a 28
hyunsungkim 0:2dade6db4d3a 29 int main() {
hyunsungkim 2:4d2d1b988c14 30 unsigned char outByte='Q';
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 2:4d2d1b988c14 58 wait(0.3f);
hyunsungkim 2:4d2d1b988c14 59 pc.printf("Transmitted\r\n");
hyunsungkim 2:4d2d1b988c14 60 nrf.write(&outByte, 1);
hyunsungkim 0:2dade6db4d3a 61 }
hyunsungkim 0:2dade6db4d3a 62 }
hyunsungkim 0:2dade6db4d3a 63
hyunsungkim 0:2dade6db4d3a 64 void startBeep()
hyunsungkim 0:2dade6db4d3a 65 {
hyunsungkim 0:2dade6db4d3a 66 buzzer.write(0.5);
hyunsungkim 0:2dade6db4d3a 67 buzzer.period_us(1000000/Do5);
hyunsungkim 0:2dade6db4d3a 68 wait(0.1);
hyunsungkim 0:2dade6db4d3a 69 buzzer.period_us(1000000/Mi5);
hyunsungkim 0:2dade6db4d3a 70 wait(0.1);
hyunsungkim 0:2dade6db4d3a 71 buzzer.period_us(1000000/So5);
hyunsungkim 0:2dade6db4d3a 72 wait(0.1);
hyunsungkim 0:2dade6db4d3a 73 buzzer.write(0);
hyunsungkim 0:2dade6db4d3a 74 }
hyunsungkim 0:2dade6db4d3a 75
hyunsungkim 0:2dade6db4d3a 76 void endBeep()
hyunsungkim 0:2dade6db4d3a 77 {
hyunsungkim 0:2dade6db4d3a 78 buzzer.write(0.5);
hyunsungkim 0:2dade6db4d3a 79 buzzer.period_us(1000000/So5);
hyunsungkim 0:2dade6db4d3a 80 wait(0.1);
hyunsungkim 0:2dade6db4d3a 81 buzzer.period_us(1000000/Mi5);
hyunsungkim 0:2dade6db4d3a 82 wait(0.1);
hyunsungkim 0:2dade6db4d3a 83 buzzer.period_us(1000000/Do5);
hyunsungkim 0:2dade6db4d3a 84 wait(0.1);
hyunsungkim 0:2dade6db4d3a 85 buzzer.write(0);
hyunsungkim 0:2dade6db4d3a 86 }
hyunsungkim 0:2dade6db4d3a 87
hyunsungkim 0:2dade6db4d3a 88 void goForward()
hyunsungkim 0:2dade6db4d3a 89 {
hyunsungkim 0:2dade6db4d3a 90 motor_RA = 0.5;
hyunsungkim 0:2dade6db4d3a 91 motor_RB = 0;
hyunsungkim 0:2dade6db4d3a 92 motor_LA = 0;
hyunsungkim 0:2dade6db4d3a 93 motor_LB = 0.5;
hyunsungkim 0:2dade6db4d3a 94 }
hyunsungkim 0:2dade6db4d3a 95
hyunsungkim 0:2dade6db4d3a 96 void onLED(int r, int g, int b)
hyunsungkim 0:2dade6db4d3a 97 {
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 // The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
hyunsungkim 0:2dade6db4d3a 105 // "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
hyunsungkim 0:2dade6db4d3a 106 // only handles 4 byte transfers in the ATMega code.
hyunsungkim 0:2dade6db4d3a 107 #define TRANSFER_SIZE 4
hyunsungkim 0:2dade6db4d3a 108
hyunsungkim 0:2dade6db4d3a 109 wait(2.0);
hyunsungkim 0:2dade6db4d3a 110
hyunsungkim 0:2dade6db4d3a 111 char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
hyunsungkim 0:2dade6db4d3a 112 int txDataCnt = 0;
hyunsungkim 0:2dade6db4d3a 113 int rxDataCnt = 0;
hyunsungkim 0:2dade6db4d3a 114
hyunsungkim 0:2dade6db4d3a 115 nrf.powerUp();
hyunsungkim 0:2dade6db4d3a 116 nrf.setTxAddress(0xE7E7E7EF, 4);
hyunsungkim 0:2dade6db4d3a 117
hyunsungkim 0:2dade6db4d3a 118 // Display the (default) setup of the nRF24L01+ chip
hyunsungkim 0:2dade6db4d3a 119 pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", nrf.getRfFrequency() );
hyunsungkim 0:2dade6db4d3a 120 pc.printf( "nRF24L01+ Output power : %d dBm\r\n", nrf.getRfOutputPower() );
hyunsungkim 0:2dade6db4d3a 121 pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", nrf.getAirDataRate() );
hyunsungkim 0:2dade6db4d3a 122 pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", nrf.getTxAddress() );
hyunsungkim 0:2dade6db4d3a 123 pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", nrf.getRxAddress() );
hyunsungkim 0:2dade6db4d3a 124 pc.printf( "nRF24L01+ CRCWidth : %d \r\n", nrf.getCrcWidth() );
hyunsungkim 0:2dade6db4d3a 125
hyunsungkim 0:2dade6db4d3a 126 pc.printf( "Type keys to test transfers:\r\n (transfers are grouped into %d characters)\r\n", TRANSFER_SIZE );
hyunsungkim 0:2dade6db4d3a 127
hyunsungkim 0:2dade6db4d3a 128 nrf.setTransferSize( TRANSFER_SIZE );
hyunsungkim 0:2dade6db4d3a 129
hyunsungkim 0:2dade6db4d3a 130 nrf.setReceiveMode();
hyunsungkim 0:2dade6db4d3a 131 nrf.enable();
hyunsungkim 0:2dade6db4d3a 132
hyunsungkim 0:2dade6db4d3a 133 while (1) {
hyunsungkim 0:2dade6db4d3a 134
hyunsungkim 0:2dade6db4d3a 135 // If we've received anything over the host serial link...
hyunsungkim 0:2dade6db4d3a 136 if ( pc.readable() ) {
hyunsungkim 0:2dade6db4d3a 137
hyunsungkim 0:2dade6db4d3a 138 // ...add it to the transmit buffer
hyunsungkim 0:2dade6db4d3a 139 txData[txDataCnt++] = pc.getc();
hyunsungkim 0:2dade6db4d3a 140
hyunsungkim 0:2dade6db4d3a 141 // If the transmit buffer is full
hyunsungkim 0:2dade6db4d3a 142 if ( txDataCnt >= sizeof( txData ) ) {
hyunsungkim 0:2dade6db4d3a 143
hyunsungkim 0:2dade6db4d3a 144 // Send the transmitbuffer via the nRF24L01+
hyunsungkim 0:2dade6db4d3a 145 nrf.write( NRF24L01P_PIPE_P0, txData, txDataCnt );
hyunsungkim 0:2dade6db4d3a 146
hyunsungkim 0:2dade6db4d3a 147 txDataCnt = 0;
hyunsungkim 0:2dade6db4d3a 148 }
hyunsungkim 0:2dade6db4d3a 149 endBeep();
hyunsungkim 0:2dade6db4d3a 150 }
hyunsungkim 0:2dade6db4d3a 151
hyunsungkim 0:2dade6db4d3a 152 // If we've received anything in the nRF24L01+...
hyunsungkim 0:2dade6db4d3a 153 if ( nrf.readable() ) {
hyunsungkim 0:2dade6db4d3a 154
hyunsungkim 0:2dade6db4d3a 155 // ...read the data into the receive buffer
hyunsungkim 0:2dade6db4d3a 156 rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
hyunsungkim 0:2dade6db4d3a 157
hyunsungkim 0:2dade6db4d3a 158 // Display the receive buffer contents via the host serial link
hyunsungkim 0:2dade6db4d3a 159 for ( int i = 0; rxDataCnt > 0; rxDataCnt--, i++ ) {
hyunsungkim 0:2dade6db4d3a 160 pc.putc( rxData[i] );
hyunsungkim 0:2dade6db4d3a 161 }
hyunsungkim 0:2dade6db4d3a 162 startBeep();
hyunsungkim 0:2dade6db4d3a 163 }
hyunsungkim 0:2dade6db4d3a 164 }
hyunsungkim 0:2dade6db4d3a 165 */