John Mc / Mbed 2 deprecated NerfGun_nRF24L01P_RX

RX basestation controller of the NERF demo. Designed for use with the FRDM-K64F and the nRF24L01P module.

Dependencies:   mbed nRF24L01P

Fork of NerfGun_nRF24L01P_RX by Clark Jarvis

main.cpp@3:fb5f79ff292b, 2014-05-21 (annotated)

Committer:
johnmc
Date:
Wed May 21 13:44:54 2014 +0000
Revision:
3:fb5f79ff292b
Parent:
2:9caef35c5062 
NerfDemo RX (base) side.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Owen 0:a51a6e7da590 1 #include "mbed.h"
Owen 0:a51a6e7da590 2 #include "nRF24L01P.h"
Owen 0:a51a6e7da590 3
clarkjarvis 2:9caef35c5062 4 #define V_SERVO_CENTER 1800
clarkjarvis 2:9caef35c5062 5 #define V_SERVO_MAX 2200
clarkjarvis 2:9caef35c5062 6 #define V_SERVO_MIN 800
clarkjarvis 2:9caef35c5062 7 #define H_SERVO_CENTER 1600
clarkjarvis 2:9caef35c5062 8 #define H_SERVO_MAX 2200
clarkjarvis 2:9caef35c5062 9 #define H_SERVO_MIN 800
clarkjarvis 2:9caef35c5062 10 #define TRANSFER_SIZE 9
clarkjarvis 2:9caef35c5062 11
Owen 0:a51a6e7da590 12 Serial pc(USBTX, USBRX); // tx, rx
Owen 0:a51a6e7da590 13
clarkjarvis 2:9caef35c5062 14 nRF24L01P my_nrf24l01p(PTD6, PTD7, PTD5, PTD4, PTC12, PTC18); // mosi, miso, sck, csn, ce, irq
Owen 0:a51a6e7da590 15
Owen 0:a51a6e7da590 16 DigitalOut myled1(LED1);
Owen 0:a51a6e7da590 17 DigitalOut myled2(LED2);
clarkjarvis 2:9caef35c5062 18 DigitalOut myled3(LED3);
clarkjarvis 2:9caef35c5062 19
clarkjarvis 2:9caef35c5062 20 DigitalOut fire(PTB23);
clarkjarvis 2:9caef35c5062 21 PwmOut v_servo(PTC2);
clarkjarvis 2:9caef35c5062 22 PwmOut h_servo(PTA2);
Owen 0:a51a6e7da590 23
Owen 0:a51a6e7da590 24 int main() {
Owen 0:a51a6e7da590 25
Owen 0:a51a6e7da590 26 // The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
Owen 0:a51a6e7da590 27 // "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
Owen 0:a51a6e7da590 28 // only handles 4 byte transfers in the ATMega code.
clarkjarvis 2:9caef35c5062 29 myled1 = 1;
clarkjarvis 2:9caef35c5062 30 myled2 = 1;
clarkjarvis 2:9caef35c5062 31 myled3 = 0;
Owen 0:a51a6e7da590 32
clarkjarvis 2:9caef35c5062 33 pc.baud(115200);
clarkjarvis 2:9caef35c5062 34 char rxData[TRANSFER_SIZE];
Owen 0:a51a6e7da590 35 int rxDataCnt = 0;
Owen 0:a51a6e7da590 36
johnmc 3:fb5f79ff292b 37 my_nrf24l01p.setRxAddress(0xDEADBEEF0F);
Owen 0:a51a6e7da590 38 my_nrf24l01p.powerUp();
Owen 0:a51a6e7da590 39
Owen 0:a51a6e7da590 40 // Display the (default) setup of the nRF24L01+ chip
Owen 0:a51a6e7da590 41 pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", my_nrf24l01p.getRfFrequency() );
Owen 0:a51a6e7da590 42 pc.printf( "nRF24L01+ Output power : %d dBm\r\n", my_nrf24l01p.getRfOutputPower() );
Owen 0:a51a6e7da590 43 pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", my_nrf24l01p.getAirDataRate() );
Owen 0:a51a6e7da590 44 pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() );
Owen 0:a51a6e7da590 45 pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() );
Owen 0:a51a6e7da590 46
clarkjarvis 2:9caef35c5062 47 pc.printf( "This is the Receiver\r\n");
Owen 0:a51a6e7da590 48
Owen 0:a51a6e7da590 49 my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
Owen 0:a51a6e7da590 50
Owen 0:a51a6e7da590 51 my_nrf24l01p.setReceiveMode();
Owen 0:a51a6e7da590 52 my_nrf24l01p.enable();
Owen 0:a51a6e7da590 53
clarkjarvis 2:9caef35c5062 54
clarkjarvis 2:9caef35c5062 55 v_servo.period_us(20000); // servo requires a 20ms period
clarkjarvis 2:9caef35c5062 56 v_servo.pulsewidth_us(V_SERVO_CENTER);
clarkjarvis 2:9caef35c5062 57 h_servo.period_us(20000); // servo requires a 20ms period
clarkjarvis 2:9caef35c5062 58 h_servo.pulsewidth_us(H_SERVO_CENTER);
clarkjarvis 2:9caef35c5062 59 fire = 0;
clarkjarvis 2:9caef35c5062 60
clarkjarvis 2:9caef35c5062 61 int v_pulse = V_SERVO_CENTER;
clarkjarvis 2:9caef35c5062 62 int h_pulse = H_SERVO_CENTER;
Owen 0:a51a6e7da590 63
clarkjarvis 2:9caef35c5062 64 v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
clarkjarvis 2:9caef35c5062 65 h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
Owen 0:a51a6e7da590 66
clarkjarvis 2:9caef35c5062 67 wait(0.5);
clarkjarvis 2:9caef35c5062 68
clarkjarvis 2:9caef35c5062 69 int32_t acc_x, acc_y;
clarkjarvis 2:9caef35c5062 70 char fire_button;
clarkjarvis 2:9caef35c5062 71
clarkjarvis 2:9caef35c5062 72 while (1) {
Owen 0:a51a6e7da590 73
Owen 0:a51a6e7da590 74 // If we've received anything in the nRF24L01+...
Owen 0:a51a6e7da590 75 if ( my_nrf24l01p.readable() ) {
clarkjarvis 2:9caef35c5062 76
Owen 0:a51a6e7da590 77 // ...read the data into the receive buffer
Owen 0:a51a6e7da590 78 rxDataCnt = my_nrf24l01p.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
Owen 0:a51a6e7da590 79
Owen 0:a51a6e7da590 80 // Display the receive buffer contents via the host serial link
clarkjarvis 2:9caef35c5062 81 acc_x = (int32_t)((rxData[0])|(rxData[1]<<8)|(rxData[2]<<16)|(rxData[3]<<24));
clarkjarvis 2:9caef35c5062 82 acc_y = (int32_t)((rxData[4])|(rxData[5]<<8)|(rxData[6]<<16)|(rxData[7]<<24));
clarkjarvis 2:9caef35c5062 83 fire_button = rxData[8];
clarkjarvis 2:9caef35c5062 84
clarkjarvis 2:9caef35c5062 85 //pc.printf("%d\t%d\t- %d\n\r",acc_x,acc_y,fire_button);
clarkjarvis 2:9caef35c5062 86 //pc.printf("%01x %01x %01x %01x %01x %01x\n\r",rxData[1],rxData[0],rxData[3],rxData[2],rxData[5],rxData[4]);
clarkjarvis 2:9caef35c5062 87
clarkjarvis 2:9caef35c5062 88 v_pulse = V_SERVO_CENTER + acc_x;
clarkjarvis 2:9caef35c5062 89 h_pulse = H_SERVO_CENTER + acc_y;
clarkjarvis 2:9caef35c5062 90
clarkjarvis 2:9caef35c5062 91 if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
clarkjarvis 2:9caef35c5062 92 if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
clarkjarvis 2:9caef35c5062 93
clarkjarvis 2:9caef35c5062 94 if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
clarkjarvis 2:9caef35c5062 95 if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
clarkjarvis 2:9caef35c5062 96
clarkjarvis 2:9caef35c5062 97 v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
clarkjarvis 2:9caef35c5062 98 h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
clarkjarvis 2:9caef35c5062 99
clarkjarvis 2:9caef35c5062 100 //pc.printf("%d\t%d\t\n\r",v_pulse,h_pulse);
clarkjarvis 2:9caef35c5062 101
clarkjarvis 2:9caef35c5062 102 myled1 = fire_button;
clarkjarvis 2:9caef35c5062 103 myled3 = !fire_button;
clarkjarvis 2:9caef35c5062 104 fire = !fire_button;
clarkjarvis 2:9caef35c5062 105
Owen 0:a51a6e7da590 106 }
Owen 0:a51a6e7da590 107 }
Owen 0:a51a6e7da590 108 }