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Diff: master.cpp
- Branch:
- RF24_library_test_tx
- Revision:
- 19:6f01eb6f4163
- Child:
- 20:e0302dc43412
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master.cpp Sat Dec 01 19:32:07 2018 +0000 @@ -0,0 +1,253 @@ +#include "mbed.h" +#include "nRF24L01P.h" +#include "beep.h" + +#define nrf_CE D2 +#define nrf_CSN A3 +#define spi_SCK D13 +#define spi_MOSI D11 +#define spi_MISO D12 +#define spi_IRQ D4 + +#define TRANSFER_SIZE 15 +#define MAX_BUFFER_SIZE 255 +#define BUFFER_SIZE MAX_BUFFER_SIZE + +#define DATA_PROTOCOL_BEGIN '$' +#define DATA_PROTOCOL_TOKEN ',' +#define DATA_PROTOCOL_TOKEN_ "," +#define DATA_PROTOCOL_END '*' +#define DATA_PROTOCOL_END_ "*" + +#define NRF_TRANSMIT 1 +#define NRF_RECEIVE 2 + +#define NRF_RETRIAL_MAX 5 + +nRF24L01P nrf(spi_MOSI, spi_MISO, spi_SCK, nrf_CSN, nrf_CE, spi_IRQ); // mosi, miso, sck, csn, ce, irq +Serial pc(USBTX, USBRX); +PwmOut buzzer(D5); + +uint64_t txAddr = 0xDEADBEEF0F; +uint64_t rxAddr = 0xDEADBEEF00; + +typedef struct { + int bot_id; + int cmd_id; + int lspeed; + int rspeed; +} payload_t; + +void beepStart(); +void endBeep(); +void initNRF(int mode, int msg_len); +void dumpRFInfo(); +int readSerialUntil(char *buffer, unsigned int buf_len, char terminator); +char* inspectData(char *buffer, int buf_len); +payload_t* getPayload(char* raw_data); +int transmitCmd(payload_t *p); + +int main() +{ + char buffer[BUFFER_SIZE]; + beepStart(); + pc.baud(115200); + printf("I'm Master\r\n"); + initNRF(NRF_TRANSMIT, TRANSFER_SIZE); +// dumpRFInfo(); + + memset(buffer, NULL, BUFFER_SIZE); + + while(1) { + int result = readSerialUntil(buffer, BUFFER_SIZE, DATA_PROTOCOL_END); + if(result>0) { + char *data = inspectData(buffer, BUFFER_SIZE); + if(*data == DATA_PROTOCOL_BEGIN) { + payload_t *payload = getPayload(data); + printf("Sent - BotID:%d, CmdID:%d, LSpeed:%d, RSpeed:%d\r\n", payload->bot_id, payload->cmd_id, payload->lspeed, payload->rspeed); + int n = transmitCmd(payload); + free(data); + free(payload); + } + } + } +} + +void constructString(char *txData, payload_t *p) +{ + *(txData+0) = '$'; + *(txData+1) = p->bot_id/10+'0'; + *(txData+2) = p->bot_id%10+'0'; + *(txData+3) = p->cmd_id/10000+'0'; + *(txData+4) = p->cmd_id/1000%10+'0'; + *(txData+5) = p->cmd_id/100%10+'0'; + *(txData+6) = p->cmd_id/10%10+'0'; + *(txData+7) = p->cmd_id%10+'0'; + *(txData+8) = p->lspeed>0?'+':'-'; + *(txData+9) = abs(p->lspeed)/10+'0'; + *(txData+10) = abs(p->lspeed)%10+'0'; + *(txData+11) = p->rspeed>0?'+':'-'; + *(txData+12) = abs(p->rspeed)/10+'0'; + *(txData+13) = abs(p->rspeed)%10+'0'; + *(txData+14) = '\0'; +} + +int transmitCmd(payload_t *p) +{ + int trial = 0; + int rxDataCnt=0; + char rxData[MAX_BUFFER_SIZE]; + char buf[TRANSFER_SIZE]; + + while(trial<NRF_RETRIAL_MAX) { + initNRF(NRF_TRANSMIT, TRANSFER_SIZE); + constructString(buf, p); + + nrf.write(NRF24L01P_PIPE_P0, buf, TRANSFER_SIZE); + initNRF(NRF_RECEIVE, TRANSFER_SIZE); + wait(0.01); + rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE); + if(rxDataCnt>0) { + return 1; + } + trial++; + } + printf("No Reply from Bot..\r\n"); + return 0; +} + +payload_t* getPayload(char *data) +{ + int n = strlen(data); + char _data[n+1]; + strcpy(_data, data); + payload_t *p = (payload_t*)malloc(sizeof(payload_t)); + p->bot_id = atoi(strtok(data+1, DATA_PROTOCOL_TOKEN_)); + p->cmd_id = atoi(strtok(NULL, DATA_PROTOCOL_TOKEN_)); + p->lspeed = atoi(strtok(NULL, DATA_PROTOCOL_TOKEN_)); + p->rspeed = atoi(strtok(NULL, DATA_PROTOCOL_END_)); + return p; +} + +char* inspectData(char *buffer, int buf_len) +{ + int start, end; + for(int i=0; buffer[i-1]!=DATA_PROTOCOL_BEGIN; i++) { + start = i; + if(i==buf_len) return 0; + } + for(int i=start+1; buffer[i-1]!=DATA_PROTOCOL_END; i++) { + end = i; + if(i==buf_len) return 0; + } + int data_len = end-start+1; + char *str = (char*)malloc(sizeof(char)*(data_len+1)); + memset(str, NULL, data_len+1); + for(int i=0; i<data_len; i++) { + *(str+i) = buffer[start+i]; + + if(buffer[start+i]==DATA_PROTOCOL_BEGIN || buffer[start+i]==DATA_PROTOCOL_TOKEN || buffer[start+i]==DATA_PROTOCOL_END + || (buffer[start+i]>='0'&&buffer[start+i]<='9') || buffer[start+i]=='+' || buffer[start+i]=='-') { + continue; + } else { + //pc.putc(buffer[start+i]); + free(str); + return 0; + } + } + return str; +} + +int readSerialUntil(char *buffer, unsigned int buf_len, char term) +{ + int n=0; + char *str = (char*)malloc(sizeof(char)*buf_len); + memset(str, NULL, buf_len); + Timer t; + t.start(); + int begin = t.read_ms(); + while(t.read_ms()-begin < 100) { + if(pc.readable()) { + char inByte=pc.getc(); + *(str+n)=inByte; + n++; + if(inByte == term) { + strcpy(buffer, str); + free(str); + return n; + } + if(n>buf_len) { + free(str); + return -1; + } + } + } + free(str); + return 0; +} + +void dumpRFInfo() +{ + printf( "nRF24L01+ Frequency : %d MHz\r\n", nrf.getRfFrequency() ); + printf( "nRF24L01+ Output power : %d dBm\r\n", nrf.getRfOutputPower() ); + printf( "nRF24L01+ Data Rate : %d kbps\r\n", nrf.getAirDataRate() ); + printf( "nRF24L01+ TX Address : 0x%010llX\r\n", nrf.getTxAddress() ); + printf( "nRF24L01+ RX Address : 0x%010llX\r\n", nrf.getRxAddress() ); +} + +void initNRF(int mode, int msg_len) +{ +#ifndef NRF_FIRST_INIT +#define NRF_FIRST_INIT + nrf.setTxAddress(txAddr); + nrf.setRxAddress(rxAddr); + nrf.powerUp(); +#endif + switch(mode) { + case NRF_TRANSMIT: + nrf.setTransferSize(msg_len); + nrf.setTransmitMode(); + nrf.enable(); + break; + case NRF_RECEIVE: + nrf.setTransferSize(msg_len); + nrf.setReceiveMode(); + nrf.enable(); + break; + default: + printf("Invalid NRF Mode\r\n"); + } +} +/* +void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData) +{ + *(txData+0) = '$'; + *(txData+1) = id/10+'0'; + *(txData+2) = id%10+'0'; + *(txData+3) = count/10000+'0'; + *(txData+4) = count/1000%10+'0'; + *(txData+5) = count/100%10+'0'; + *(txData+6) = count/10%10+'0'; + *(txData+7) = count%10+'0'; + *(txData+8) = lspeed>0?'+':'-'; + *(txData+9) = abs(lspeed)/10+'0'; + *(txData+10) = abs(lspeed)%10+'0'; + *(txData+11) = rspeed>0?'+':'-'; + *(txData+12) = abs(rspeed)/10+'0'; + *(txData+13) = abs(rspeed)%10+'0'; + *(txData+14) = '\0'; +} +xxyyyyyabbcddn + +14 chars + +xx: robot_id +yyyyy: packet_id +a: sign of lspeed +bb: lspeed +c: sign of rspeed +dd: rspeed +n: NULL 0 + +0100001+30+30 +*/ \ No newline at end of file