Diff: main.cpp

Branch:

RF24_library_test_tx

Revision:

14:a4402559cd6e

Parent:

13:f0f9a5586e45

Child:

15:217b3e5a2275

--- a/main.cpp	Sat Dec 01 12:56:14 2018 +0000
+++ b/main.cpp	Sat Dec 01 15:26:36 2018 +0000
@@ -6,7 +6,7 @@
 #define PONG 2
 #define PC 3
 
-#define ROLE PONG
+#define ROLE PC
 #define ID 1
 
 #define nrf_CE      D2
@@ -16,7 +16,7 @@
 #define spi_MISO    D12
 #define spi_IRQ     D4
 
-#define TRANSFER_SIZE 14
+#define TRANSFER_SIZE 15
 
 nRF24L01P nrf(spi_MOSI, spi_MISO, spi_SCK, nrf_CSN, nrf_CE, spi_IRQ);    // mosi, miso, sck, csn, ce, irq
 
@@ -73,19 +73,22 @@
         case PONG:
             if ( nrf.readable() ) {
                 rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
-              //  printf("%s\r\n", rxData);
-                int id = (rxData[0]-'0')*10+(rxData[1]-'0');
-                int dataCount = (rxData[2]-'0')*10000+(rxData[3]-'0')*1000+(rxData[4]-'0')*100+(rxData[5]-'0')*10+(rxData[6]-'0');
-                int rspd = (rxData[8]-'0')*10+(rxData[9]-'0');
-                int lspd = (rxData[11]-'0')*10+(rxData[12]-'0');
-                if(rxData[7]=='-')
-                    rspd = -rspd;
-                if(rxData[10]=='-')
-                    lspd = -lspd;
-                    
-                if(true) {
-                    turnWheel(rspd, lspd);
-                    printf("[%d] RxData: %s, rspd: %d, rspd: %d\r\n", id, rxData, rspd, lspd);
+                if(rxData[0] =='$') {
+                    int id = (rxData[1]-'0')*10+(rxData[2]-'0');
+                    int dataCount = (rxData[3]-'0')*10000+(rxData[4]-'0')*1000+(rxData[5]-'0')*100+(rxData[6]-'0')*10+(rxData[7]-'0');
+                    int rspd = (rxData[9]-'0')*10+(rxData[10]-'0');
+                    int lspd = (rxData[12]-'0')*10+(rxData[13]-'0');
+                    if(rxData[8]=='-')
+                        rspd = -rspd;
+                    if(rxData[11]=='-')
+                        lspd = -lspd;
+                        
+                    if(true) {
+                        turnWheel(rspd, lspd);
+                        printf("[%d] RxData: %s, rspd: %d, rspd: %d\r\n", id, rxData, rspd, lspd);
+                    }
+                } else {
+                    printf("Invalid Data\r\n");
                 }
             }
             break;
@@ -96,7 +99,7 @@
                     printf("Data size overflow!\r\n");
                     inByteCnt = 0;
                     break;
-                } else if(inByte == '\n') {
+                } else if(inByte == '\0') {
                     buf[inByteCnt] = '\0';
                     printf("Command: %s\r\n", buf);
                     nrf.write(NRF24L01P_PIPE_P0, buf, TRANSFER_SIZE);
@@ -158,32 +161,35 @@
 
 void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData)
 {
-    *(txData+0) = id/10+'0';
-    *(txData+1) = id%10+'0';
-    *(txData+2) = count/10000+'0';
-    *(txData+3) = count/1000%10+'0';
-    *(txData+4) = count/100%10+'0';
-    *(txData+5) = count/10%10+'0';
-    *(txData+6) = count%10+'0';
-    *(txData+7) = lspeed>0?'+':'-';
-    *(txData+8) = abs(lspeed)/10+'0';
-    *(txData+9) = abs(lspeed)%10+'0';
-    *(txData+10) = rspeed>0?'+':'-';
-    *(txData+11) = abs(rspeed)/10+'0';
-    *(txData+12) = abs(rspeed)%10+'0';
-    *(txData+13) = '\0';
+    *(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'
+n: NULL 0
 
-0100001+30-30
+0100001+30+30
 */
\ No newline at end of file