main.cpp

00001 #include "mbed.h"
00002 #include "nRF24L01P.h"
00003 
00004 #define V_SERVO_CENTER 1800
00005 #define V_SERVO_MAX 2200
00006 #define V_SERVO_MIN 800
00007 #define H_SERVO_CENTER 1600
00008 #define H_SERVO_MAX 2200
00009 #define H_SERVO_MIN 800
00010 #define TRANSFER_SIZE   9
00011 
00012 Serial pc(USBTX, USBRX); // tx, rx
00013 
00014 nRF24L01P my_nrf24l01p(PTD6, PTD7, PTD5, PTD4, PTC12, PTC18);    // mosi, miso, sck, csn, ce, irq
00015 
00016 DigitalOut myled1(LED1);
00017 DigitalOut myled2(LED2);
00018 DigitalOut myled3(LED3);
00019 
00020 DigitalOut fire(PTB23);
00021 PwmOut v_servo(PTC2);
00022 PwmOut h_servo(PTA2);
00023 
00024 int main() {
00025 
00026 // The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
00027 //  "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
00028 //  only handles 4 byte transfers in the ATMega code.
00029     myled1 = 1;
00030     myled2 = 1;
00031     myled3 = 0;
00032 
00033     pc.baud(115200);
00034     char rxData[TRANSFER_SIZE];
00035     int rxDataCnt = 0;
00036 
00037     my_nrf24l01p.setRxAddress(0xDEADBEEF0F);
00038     my_nrf24l01p.powerUp();
00039 
00040     // Display the (default) setup of the nRF24L01+ chip
00041     pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  my_nrf24l01p.getRfFrequency() );
00042     pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  my_nrf24l01p.getRfOutputPower() );
00043     pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", my_nrf24l01p.getAirDataRate() );
00044     pc.printf( "nRF24L01+ TX Address   : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() );
00045     pc.printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() );
00046 
00047     pc.printf( "This is the Receiver\r\n");
00048 
00049     my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
00050 
00051     my_nrf24l01p.setReceiveMode();
00052     my_nrf24l01p.enable();
00053 
00054     
00055     v_servo.period_us(20000);          // servo requires a 20ms period
00056     v_servo.pulsewidth_us(V_SERVO_CENTER);
00057     h_servo.period_us(20000);          // servo requires a 20ms period
00058     h_servo.pulsewidth_us(H_SERVO_CENTER);
00059     fire = 0;
00060     
00061     int v_pulse = V_SERVO_CENTER;
00062     int h_pulse = H_SERVO_CENTER;
00063 
00064     v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
00065     h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
00066 
00067     wait(0.5);
00068     
00069     int32_t acc_x, acc_y;
00070     char fire_button;
00071     
00072     while (1) {
00073 
00074         // If we've received anything in the nRF24L01+...
00075         if ( my_nrf24l01p.readable() ) {
00076             
00077             // ...read the data into the receive buffer
00078             rxDataCnt = my_nrf24l01p.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
00079 
00080             // Display the receive buffer contents via the host serial link
00081             acc_x = (int32_t)((rxData[0])|(rxData[1]<<8)|(rxData[2]<<16)|(rxData[3]<<24));
00082             acc_y = (int32_t)((rxData[4])|(rxData[5]<<8)|(rxData[6]<<16)|(rxData[7]<<24));
00083             fire_button = rxData[8];
00084             
00085             //pc.printf("%d\t%d\t- %d\n\r",acc_x,acc_y,fire_button);
00086             //pc.printf("%01x %01x %01x %01x %01x %01x\n\r",rxData[1],rxData[0],rxData[3],rxData[2],rxData[5],rxData[4]);
00087             
00088             v_pulse = V_SERVO_CENTER + acc_x;
00089             h_pulse = H_SERVO_CENTER + acc_y;
00090     
00091             if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
00092             if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
00093     
00094             if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
00095             if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
00096     
00097             v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
00098             h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
00099             
00100             //pc.printf("%d\t%d\t\n\r",v_pulse,h_pulse); 
00101             
00102             myled1 = fire_button;
00103             myled3 = !fire_button;
00104             fire = !fire_button;
00105             
00106         }
00107     }
00108 }