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Dependencies:   mbed nRF24L01P

main.cpp@8:78294b936c70, 2018-11-25 (annotated)

Committer:
hyunsungkim
Date:
Sun Nov 25 10:34:05 2018 +0000
Branch:
RF24_library_test_tx
Revision:
8:78294b936c70
Parent:
7:faf9014d2512
Child:
9:d85804e8d3b3
???? 13?? ???? ? ???? ????? ??. id[2]count[5]left[3]right[3]+'\0'

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 3:690740ab3394 8 #define nrf_CE D2
hyunsungkim 3:690740ab3394 9 #define nrf_CSN A3
hyunsungkim 3:690740ab3394 10 #define spi_SCK D13
hyunsungkim 3:690740ab3394 11 #define spi_MOSI D11
hyunsungkim 3:690740ab3394 12 #define spi_MISO D12
hyunsungkim 8:78294b936c70 13 #define spi_IRQ D4
hyunsungkim 8:78294b936c70 14
hyunsungkim 8:78294b936c70 15 #define TRANSFER_SIZE 14
hyunsungkim 8:78294b936c70 16
hyunsungkim 8:78294b936c70 17 nRF24L01P nrf(spi_MOSI, spi_MISO, spi_SCK, nrf_CSN, nrf_CE, spi_IRQ); // mosi, miso, sck, csn, ce, irq
hyunsungkim 8:78294b936c70 18
hyunsungkim 8:78294b936c70 19 volatile int role = PING;
hyunsungkim 8:78294b936c70 20 //volatile int role = PONG;
hyunsungkim 0:2dade6db4d3a 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 8:78294b936c70 37
hyunsungkim 8:78294b936c70 38 void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData)
hyunsungkim 3:690740ab3394 39 {
hyunsungkim 8:78294b936c70 40 *(txData+0) = id/10+'0';
hyunsungkim 8:78294b936c70 41 *(txData+1) = id%10+'0';
hyunsungkim 8:78294b936c70 42 *(txData+2) = count/10000+'0';
hyunsungkim 8:78294b936c70 43 *(txData+3) = count/1000%10+'0';
hyunsungkim 8:78294b936c70 44 *(txData+4) = count/100%10+'0';
hyunsungkim 8:78294b936c70 45 *(txData+5) = count/10%10+'0';
hyunsungkim 8:78294b936c70 46 *(txData+6) = count%10+'0';
hyunsungkim 8:78294b936c70 47 *(txData+7) = lspeed/100+'0';
hyunsungkim 8:78294b936c70 48 *(txData+8) = lspeed/10%10+'0';
hyunsungkim 8:78294b936c70 49 *(txData+9) = lspeed%10+'0';
hyunsungkim 8:78294b936c70 50 *(txData+10) = rspeed/100+'0';
hyunsungkim 8:78294b936c70 51 *(txData+11) = rspeed/10%10+'0';
hyunsungkim 8:78294b936c70 52 *(txData+12) = rspeed%10+'0';
hyunsungkim 8:78294b936c70 53 *(txData+13) = '\0';
hyunsungkim 8:78294b936c70 54 }
hyunsungkim 6:42ecdff5956a 55
hyunsungkim 0:2dade6db4d3a 56 int main() {
hyunsungkim 8:78294b936c70 57
hyunsungkim 8:78294b936c70 58 char txData[TRANSFER_SIZE];
hyunsungkim 8:78294b936c70 59 int txDataCnt = 0;
hyunsungkim 8:78294b936c70 60 char rxData[TRANSFER_SIZE];
hyunsungkim 8:78294b936c70 61 int rxDataCnt = 0;
hyunsungkim 6:42ecdff5956a 62
hyunsungkim 8:78294b936c70 63 beepStart();
hyunsungkim 0:2dade6db4d3a 64 pc.baud(115200);
hyunsungkim 8:78294b936c70 65 // Print setting of radio module
hyunsungkim 0:2dade6db4d3a 66
hyunsungkim 8:78294b936c70 67 if(role == PING) {
hyunsungkim 8:78294b936c70 68 nrf.setTxAddress(0xDEADBEEF0F);
hyunsungkim 8:78294b936c70 69 nrf.powerUp();
hyunsungkim 8:78294b936c70 70 nrf.setTransferSize( TRANSFER_SIZE );
hyunsungkim 8:78294b936c70 71 nrf.setTransmitMode();
hyunsungkim 8:78294b936c70 72 nrf.enable();
hyunsungkim 8:78294b936c70 73 } else {
hyunsungkim 8:78294b936c70 74 nrf.setRxAddress(0xDEADBEEF0F);
hyunsungkim 8:78294b936c70 75 nrf.powerUp();
hyunsungkim 8:78294b936c70 76 nrf.setTransferSize( TRANSFER_SIZE );
hyunsungkim 8:78294b936c70 77 nrf.setReceiveMode();
hyunsungkim 8:78294b936c70 78 nrf.enable();
hyunsungkim 0:2dade6db4d3a 79 }
hyunsungkim 8:78294b936c70 80
hyunsungkim 0:2dade6db4d3a 81 pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", nrf.getRfFrequency() );
hyunsungkim 0:2dade6db4d3a 82 pc.printf( "nRF24L01+ Output power : %d dBm\r\n", nrf.getRfOutputPower() );
hyunsungkim 0:2dade6db4d3a 83 pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", nrf.getAirDataRate() );
hyunsungkim 0:2dade6db4d3a 84 pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", nrf.getTxAddress() );
hyunsungkim 0:2dade6db4d3a 85 pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", nrf.getRxAddress() );
hyunsungkim 8:78294b936c70 86
hyunsungkim 8:78294b936c70 87 while(1) {
hyunsungkim 8:78294b936c70 88 if(role == PING) {
hyunsungkim 8:78294b936c70 89 int id = 1;
hyunsungkim 8:78294b936c70 90 int lspeed=100;
hyunsungkim 8:78294b936c70 91 int rspeed=123;
hyunsungkim 8:78294b936c70 92 //printf("transmitting\r\n");
hyunsungkim 8:78294b936c70 93 txDataCnt++;
hyunsungkim 8:78294b936c70 94 getPayload(id, txDataCnt, lspeed, rspeed, txData);
hyunsungkim 8:78294b936c70 95 pc.printf("%s\r\n", txData);
hyunsungkim 8:78294b936c70 96 char txData_[] = "123456789ABCD";
hyunsungkim 8:78294b936c70 97 nrf.write(NRF24L01P_PIPE_P0, txData, TRANSFER_SIZE);
hyunsungkim 8:78294b936c70 98 wait(0.2);
hyunsungkim 8:78294b936c70 99 }
hyunsungkim 8:78294b936c70 100 else if(role == PONG) {
hyunsungkim 8:78294b936c70 101 if ( nrf.readable() ) {
hyunsungkim 8:78294b936c70 102 rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
hyunsungkim 8:78294b936c70 103 printf("%s\r\n", rxData);
hyunsungkim 0:2dade6db4d3a 104 }
hyunsungkim 0:2dade6db4d3a 105 }
hyunsungkim 0:2dade6db4d3a 106 }
hyunsungkim 8:78294b936c70 107 }
hyunsungkim 8:78294b936c70 108