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Dependencies:   mbed nRF24L01P

main.cpp@10:02d3ca034103, 2018-11-25 (annotated)

Committer:
hyunsungkim
Date:
Sun Nov 25 11:31:55 2018 +0000
Branch:
RF24_library_test_tx
Revision:
10:02d3ca034103
Parent:
9:d85804e8d3b3
Child:
11:1b56bb8ccd04
??? ?? ??

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 10:02d3ca034103 38 void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData);
hyunsungkim 8:78294b936c70 39
hyunsungkim 6:42ecdff5956a 40
hyunsungkim 0:2dade6db4d3a 41 int main() {
hyunsungkim 10:02d3ca034103 42 int role = ROLE;
hyunsungkim 10:02d3ca034103 43 int id=0;
hyunsungkim 8:78294b936c70 44 char txData[TRANSFER_SIZE];
hyunsungkim 8:78294b936c70 45 int txDataCnt = 0;
hyunsungkim 8:78294b936c70 46 char rxData[TRANSFER_SIZE];
hyunsungkim 8:78294b936c70 47 int rxDataCnt = 0;
hyunsungkim 6:42ecdff5956a 48
hyunsungkim 8:78294b936c70 49 beepStart();
hyunsungkim 0:2dade6db4d3a 50 pc.baud(115200);
hyunsungkim 8:78294b936c70 51 // Print setting of radio module
hyunsungkim 0:2dade6db4d3a 52
hyunsungkim 10:02d3ca034103 53 initNRF(role);
hyunsungkim 10:02d3ca034103 54
hyunsungkim 10:02d3ca034103 55 while(1) {
hyunsungkim 10:02d3ca034103 56 if(role == PING) {
hyunsungkim 10:02d3ca034103 57 int id = 1;
hyunsungkim 10:02d3ca034103 58 int lspeed=-90;
hyunsungkim 10:02d3ca034103 59 int rspeed=23;
hyunsungkim 10:02d3ca034103 60 //printf("transmitting\r\n");
hyunsungkim 10:02d3ca034103 61 txDataCnt++;
hyunsungkim 10:02d3ca034103 62 getPayload(id, txDataCnt, lspeed, rspeed, txData);
hyunsungkim 10:02d3ca034103 63 //char txData_[] = "123456789ABCD";
hyunsungkim 10:02d3ca034103 64 pc.printf("PING:%s\r\n", txData);
hyunsungkim 10:02d3ca034103 65 nrf.write(NRF24L01P_PIPE_P0, txData, TRANSFER_SIZE);
hyunsungkim 10:02d3ca034103 66 wait(0.2);
hyunsungkim 10:02d3ca034103 67 }
hyunsungkim 10:02d3ca034103 68 else if(role == PONG) {
hyunsungkim 10:02d3ca034103 69 if ( nrf.readable() ) {
hyunsungkim 10:02d3ca034103 70 rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
hyunsungkim 10:02d3ca034103 71 printf("%s\r\n", rxData);
hyunsungkim 10:02d3ca034103 72 }
hyunsungkim 10:02d3ca034103 73 }
hyunsungkim 10:02d3ca034103 74 }
hyunsungkim 10:02d3ca034103 75 }
hyunsungkim 10:02d3ca034103 76
hyunsungkim 10:02d3ca034103 77 void turnWheel(int rspd, int lspd)
hyunsungkim 10:02d3ca034103 78 {
hyunsungkim 10:02d3ca034103 79 if(rspd>0) {
hyunsungkim 10:02d3ca034103 80 motor_RA.write((float)rspd/100);
hyunsungkim 10:02d3ca034103 81 motor_RB = 0;
hyunsungkim 10:02d3ca034103 82 } else {
hyunsungkim 10:02d3ca034103 83 motor_RB.write((float)rspd/100);
hyunsungkim 10:02d3ca034103 84 motor_RA = 0;
hyunsungkim 10:02d3ca034103 85 }
hyunsungkim 10:02d3ca034103 86 if(lspd>0) {
hyunsungkim 10:02d3ca034103 87 motor_LA.write((float)lspd/100);
hyunsungkim 10:02d3ca034103 88 motor_LB = 1;
hyunsungkim 10:02d3ca034103 89 } else {
hyunsungkim 10:02d3ca034103 90 motor_LB.write((float)lspd/100);
hyunsungkim 10:02d3ca034103 91 motor_LA = 1;
hyunsungkim 10:02d3ca034103 92 }
hyunsungkim 10:02d3ca034103 93 }
hyunsungkim 10:02d3ca034103 94
hyunsungkim 10:02d3ca034103 95 void dumpRFInfo()
hyunsungkim 10:02d3ca034103 96 {
hyunsungkim 10:02d3ca034103 97 printf( "nRF24L01+ Frequency : %d MHz\r\n", nrf.getRfFrequency() );
hyunsungkim 10:02d3ca034103 98 printf( "nRF24L01+ Output power : %d dBm\r\n", nrf.getRfOutputPower() );
hyunsungkim 10:02d3ca034103 99 printf( "nRF24L01+ Data Rate : %d kbps\r\n", nrf.getAirDataRate() );
hyunsungkim 10:02d3ca034103 100 printf( "nRF24L01+ TX Address : 0x%010llX\r\n", nrf.getTxAddress() );
hyunsungkim 10:02d3ca034103 101 printf( "nRF24L01+ RX Address : 0x%010llX\r\n", nrf.getRxAddress() );
hyunsungkim 10:02d3ca034103 102 }
hyunsungkim 10:02d3ca034103 103
hyunsungkim 10:02d3ca034103 104 void initNRF(int role)
hyunsungkim 10:02d3ca034103 105 {
hyunsungkim 8:78294b936c70 106 if(role == PING) {
hyunsungkim 8:78294b936c70 107 nrf.setTxAddress(0xDEADBEEF0F);
hyunsungkim 8:78294b936c70 108 nrf.powerUp();
hyunsungkim 8:78294b936c70 109 nrf.setTransferSize( TRANSFER_SIZE );
hyunsungkim 8:78294b936c70 110 nrf.setTransmitMode();
hyunsungkim 8:78294b936c70 111 nrf.enable();
hyunsungkim 8:78294b936c70 112 } else {
hyunsungkim 8:78294b936c70 113 nrf.setRxAddress(0xDEADBEEF0F);
hyunsungkim 8:78294b936c70 114 nrf.powerUp();
hyunsungkim 8:78294b936c70 115 nrf.setTransferSize( TRANSFER_SIZE );
hyunsungkim 8:78294b936c70 116 nrf.setReceiveMode();
hyunsungkim 8:78294b936c70 117 nrf.enable();
hyunsungkim 0:2dade6db4d3a 118 }
hyunsungkim 8:78294b936c70 119 }
hyunsungkim 8:78294b936c70 120
hyunsungkim 10:02d3ca034103 121 void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData)
hyunsungkim 10:02d3ca034103 122 {
hyunsungkim 10:02d3ca034103 123 *(txData+0) = id/10+'0';
hyunsungkim 10:02d3ca034103 124 *(txData+1) = id%10+'0';
hyunsungkim 10:02d3ca034103 125 *(txData+2) = count/10000+'0';
hyunsungkim 10:02d3ca034103 126 *(txData+3) = count/1000%10+'0';
hyunsungkim 10:02d3ca034103 127 *(txData+4) = count/100%10+'0';
hyunsungkim 10:02d3ca034103 128 *(txData+5) = count/10%10+'0';
hyunsungkim 10:02d3ca034103 129 *(txData+6) = count%10+'0';
hyunsungkim 10:02d3ca034103 130 *(txData+7) = lspeed>0?'+':'-';
hyunsungkim 10:02d3ca034103 131 *(txData+8) = abs(lspeed)/10+'0';
hyunsungkim 10:02d3ca034103 132 *(txData+9) = abs(lspeed)%10+'0';
hyunsungkim 10:02d3ca034103 133 *(txData+10) = rspeed>0?'+':'-';
hyunsungkim 10:02d3ca034103 134 *(txData+11) = abs(rspeed)/10+'0';
hyunsungkim 10:02d3ca034103 135 *(txData+12) = abs(rspeed)%10+'0';
hyunsungkim 10:02d3ca034103 136 *(txData+13) = '\0';
hyunsungkim 10:02d3ca034103 137 }