Diff: main.cpp

Branch:

RF24_library_test_tx

Revision:

15:217b3e5a2275

Parent:

14:a4402559cd6e

Child:

16:7a78838b3b8a

diff -r a4402559cd6e -r 217b3e5a2275 main.cpp
--- a/main.cpp	Sat Dec 01 15:26:36 2018 +0000
+++ b/main.cpp	Sat Dec 01 15:37:05 2018 +0000
@@ -2,13 +2,6 @@
 #include "nRF24L01P.h"
 #include "beep.h"
 
-#define PING 1
-#define PONG 2
-#define PC 3
-
-#define ROLE PC
-#define ID 1
-
 #define nrf_CE      D2
 #define nrf_CSN     A3
 #define spi_SCK     D13
@@ -21,118 +14,44 @@
 nRF24L01P nrf(spi_MOSI, spi_MISO, spi_SCK, nrf_CSN, nrf_CE, spi_IRQ);    // mosi, miso, sck, csn, ce, irq
 
 Serial pc(USBTX, USBRX);
-Serial lidar(D1, D0);
-
-PwmOut motor_RA(D9);
-PwmOut motor_RB(D10);
-PwmOut motor_LA(D3);
-PwmOut motor_LB(D6);
-PwmOut led_B(A5);
-PwmOut led_G(A2);
-PwmOut led_R(A1);
 PwmOut buzzer(D5);
-AnalogIn batteryCheck(A0);
 
 void beepStart();
 void endBeep();
-void initNRF(int role);
+void initNRF();
 void dumpRFInfo();
-void turnWheel(int rspd, int lspd);
 void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData);
 
 
 int main() {
-    int role = ROLE;
-    int id=0;
-    char txData[TRANSFER_SIZE];
-    int txDataCnt = 0;
-    char rxData[TRANSFER_SIZE];
-    int rxDataCnt = 0;
-    
-    
     int inByteCnt = 0;
     char buf[TRANSFER_SIZE+3];
     
     beepStart();
     pc.baud(115200);
-    initNRF(role);
+    printf("I'm Master\r\n");
+    initNRF();
     dumpRFInfo();
     
     while(1) {
-        switch(role) {
-        case PING:
-            int id = 1;
-            int lspeed=-40;
-            int rspeed=50;
-            txDataCnt++;
-            getPayload(id, txDataCnt, lspeed, rspeed, txData);
-            pc.printf("PING:%s\r\n", txData);
-            nrf.write(NRF24L01P_PIPE_P0, txData, TRANSFER_SIZE);
-            wait(0.2);
-            break;
-        case PONG:
-            if ( nrf.readable() ) {
-                rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
-                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");
-                }
+        while(pc.readable()) {
+            char inByte = pc.getc();
+            if(inByteCnt > TRANSFER_SIZE+2) {
+                printf("Data size overflow!\r\n");
+                inByteCnt = 0;
+                break;
+            } else if(inByte == '\0') {
+                buf[inByteCnt] = '\0';
+                printf("Command: %s\r\n", buf);
+                nrf.write(NRF24L01P_PIPE_P0, buf, TRANSFER_SIZE);
+                inByteCnt=0;
+            } else {
+                buf[inByteCnt++] = inByte;
             }
-            break;
-        case PC:
-            while(pc.readable()) {
-                char inByte = pc.getc();
-                if(inByteCnt > TRANSFER_SIZE+2) {
-                    printf("Data size overflow!\r\n");
-                    inByteCnt = 0;
-                    break;
-                } else if(inByte == '\0') {
-                    buf[inByteCnt] = '\0';
-                    printf("Command: %s\r\n", buf);
-                    nrf.write(NRF24L01P_PIPE_P0, buf, TRANSFER_SIZE);
-                    inByteCnt=0;
-                } else {
-                    buf[inByteCnt++] = inByte;
-                }
-            }
-            break;
         }
     }
 }
 
-void turnWheel(int rspd, int lspd)
-{
-    if(rspd>0) {
-        motor_RA.write((float)rspd/100);
-        motor_RB = 0;
-    } else {
-        rspd=-rspd;
-        motor_RB.write((float)rspd/100);
-        motor_RA = 0;
-    }
-    if(lspd>0) {
-        motor_LA.write((float)lspd/100);
-        motor_LB = 0;
-    } else {
-        lspd = -lspd;
-        motor_LB.write((float)lspd/100);
-        motor_LA = 0;
-    }
-}
-
 void dumpRFInfo()
 {
     printf( "nRF24L01+ Frequency    : %d MHz\r\n",  nrf.getRfFrequency() );
@@ -142,21 +61,14 @@
     printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", nrf.getRxAddress() );
 }
 
-void initNRF(int role)
+void initNRF()
 {
-    if(role == PING || role == PC) {
-        nrf.setTxAddress(0xDEADBEEF0F);
-        nrf.powerUp();
-        nrf.setTransferSize( TRANSFER_SIZE );
-        nrf.setTransmitMode();
-        nrf.enable();
-    } else {
-        nrf.setRxAddress(0xDEADBEEF0F);
-        nrf.powerUp();
-        nrf.setTransferSize( TRANSFER_SIZE );
-        nrf.setReceiveMode();
-        nrf.enable();
-    }
+    nrf.setTxAddress(0xDEADBEEF0F);
+    nrf.powerUp();
+    nrf.setTransferSize( TRANSFER_SIZE );
+    nrf.setTransmitMode();
+    nrf.enable();
+
 }
 
 void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData)