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181202_Castone_design_slave
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Revision 16:d9c8e60bfdb1, committed 2018-12-15
- Comitter:
- hyunsungkim
- Date:
- Sat Dec 15 19:34:49 2018 +0000
- Branch:
- RF24_library_test_tx
- Parent:
- 15:07f67c448042
- Commit message:
- before adjusting communication timing
Changed in this revision
| slave.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/slave.cpp Sat Dec 01 19:45:24 2018 +0000
+++ b/slave.cpp Sat Dec 15 19:34:49 2018 +0000
@@ -2,13 +2,6 @@
#include "nRF24L01P.h"
#include "beep.h"
-#define PING 1
-#define PONG 2
-#define PC 3
-
-#define ROLE PONG
-#define ID 1
-
#define nrf_CE D2
#define nrf_CSN A3
#define spi_SCK D13
@@ -16,12 +9,20 @@
#define spi_MISO D12
#define spi_IRQ D4
+#define NRF_TRANSMIT 1
+#define NRF_RECEIVE 2
+
+#define NRF_ID 7
+
#define TRANSFER_SIZE 15
nRF24L01P nrf(spi_MOSI, spi_MISO, spi_SCK, nrf_CSN, nrf_CE, spi_IRQ); // mosi, miso, sck, csn, ce, irq
+uint64_t rxAddr=0xDEADBEEF0F;
+uint64_t txAddr=0xDEADBEEF00;
+
Serial pc(USBTX, USBRX);
-Serial lidar(D1, D0);
+//Serial lidar(D1, D0);
PwmOut motor_RA(D9);
PwmOut motor_RB(D10);
@@ -34,99 +35,62 @@
AnalogIn batteryCheck(A0);
void beepStart();
-void endBeep();
-void initNRF(int role);
void dumpRFInfo();
void turnWheel(int rspd, int lspd);
-void getPayload(int id, unsigned int count, int lspeed, int rspeed, char* txData);
-
+void initNRF(int mode, int msg_len);
-int main() {
- int role = ROLE;
- int id=0;
- char txData[TRANSFER_SIZE];
- int txDataCnt = 0;
+int main()
+{
char rxData[TRANSFER_SIZE];
int rxDataCnt = 0;
-
-
+
+ initNRF(NRF_RECEIVE, TRANSFER_SIZE);
int inByteCnt = 0;
- char buf[TRANSFER_SIZE+3];
-
+
beepStart();
pc.baud(115200);
- initNRF(role);
// dumpRFInfo();
-
+ led_G = 1;
+ led_R = 1;
+
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] =='$') {
- int id = (rxData[1]-'0')*10+(rxData[2]-'0');
- int dataCount = (rxData[3]-'0')*10000+(rxData[4]-'0')*1000+(rxData[5]-'0')*100+(rxData[6]-'0')*10+(rxData[7]-'0');
- int rspd = (rxData[9]-'0')*10+(rxData[10]-'0');
- int lspd = (rxData[12]-'0')*10+(rxData[13]-'0');
- if(rxData[8]=='-')
- rspd = -rspd;
- if(rxData[11]=='-')
- lspd = -lspd;
-
- if(true) {
- turnWheel(rspd, lspd);
- printf("[%d] RxData: %s, rspd: %d, rspd: %d\r\n", id, rxData, rspd, lspd);
- char buf[] = "JUSTDUMMYREPLY";
- wait(0.005);
- nrf.setTxAddress(0xDEADBEEF00);
- nrf.setTransferSize( TRANSFER_SIZE );
- nrf.setTransmitMode();
- nrf.enable();
- nrf.write(NRF24L01P_PIPE_P0, buf, TRANSFER_SIZE);
-
-
- nrf.setRxAddress(0xDEADBEEF0F);
- nrf.powerUp();
- nrf.setTransferSize( TRANSFER_SIZE );
- nrf.setReceiveMode();
- nrf.enable();
- }
- } else {
- printf("Invalid Data\r\n");
+ if ( nrf.readable() ) {
+ rxDataCnt = nrf.read( NRF24L01P_PIPE_P0, rxData, TRANSFER_SIZE);
+ if(rxData[0] =='$') {
+ 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(id==NRF_ID) {
+ turnWheel(rspd, lspd);
+ printf("[%d] RxData: %s, rspd: %d, rspd: %d\r\n", id, rxData, rspd, lspd);
+ char buf[] = "JUSTDUMMYREPLY";
+ wait(0.005);
+ nrf.setTxAddress(0xDEADBEEF00);
+ nrf.setTransferSize( TRANSFER_SIZE );
+ nrf.setTransmitMode();
+ nrf.enable();
+ nrf.write(NRF24L01P_PIPE_P0, buf, TRANSFER_SIZE);
+
+ nrf.setRxAddress(0xDEADBEEF0F);
+ nrf.powerUp();
+ nrf.setTransferSize( TRANSFER_SIZE );
+ nrf.setReceiveMode();
+ nrf.enable();
}
+ } else {
+ printf("Invalid Data\r\n");
}
- 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) {
@@ -156,41 +120,30 @@
printf( "nRF24L01+ RX Address : 0x%010llX\r\n", nrf.getRxAddress() );
}
-void initNRF(int role)
+void initNRF(int mode, int msg_len)
{
- 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();
+#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';
-}
/*
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