main.cpp

00001 #include "mbed.h"
00002 #include "nRF24L01P.h"
00003 #include "FXOS8700Q.h"
00004 #include "DebounceIn.h"
00005 
00006 #define ACC_SAMPLE_SIZE 200
00007 #define ACC_X_GAIN 1
00008 #define ACC_Y_GAIN 2
00009 #define TRANSFER_SIZE   9
00010 
00011 Serial pc(USBTX, USBRX); // tx, rx
00012 
00013 nRF24L01P my_nrf24l01p(PTD6, PTD7, PTD5, PTD4, PTC12, PTC18);    // mosi, miso, sck, csn, ce, irq
00014 FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
00015 
00016 DigitalOut myled1(LED1);
00017 DigitalOut myled2(LED2);
00018 DigitalOut myled3(LED3);
00019 MotionSensorDataCounts acc_raw;
00020 int16_t acc_x, acc_y;
00021 DebounceIn fire_button(PTA4);
00022 DebounceIn cal_button(PTC6);
00023 
00024 int main() {
00025 
00026     char txData[TRANSFER_SIZE];
00027     int txDataCnt = 0;
00028 
00029     int acc_x_array[ACC_SAMPLE_SIZE];
00030     int acc_y_array[ACC_SAMPLE_SIZE];
00031     int acc_sample_cnt = 0;
00032 
00033     int acc_x_avg = 0;
00034     int acc_y_avg = 0;
00035     
00036     int acc_x_cal = 0;
00037     int acc_y_cal = 0;
00038 
00039     pc.baud(115200);
00040     
00041     my_nrf24l01p.setTxAddress(0xDEADBEEF0F);
00042     my_nrf24l01p.powerUp();
00043     myled1 = 1;
00044     myled2 = 1;
00045     
00046     // Display the setup of the nRF24L01+ chip
00047     pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  my_nrf24l01p.getRfFrequency() );
00048     pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  my_nrf24l01p.getRfOutputPower() );
00049     pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", my_nrf24l01p.getAirDataRate() );
00050     pc.printf( "nRF24L01+ TX Address   : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() );
00051     pc.printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() );
00052 
00053     my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
00054     my_nrf24l01p.enable();
00055 
00056     acc.enable();
00057     
00058     myled3 = 0;
00059     
00060     for (int x=0; x<ACC_SAMPLE_SIZE; x++) {
00061         acc_x_array[x]=0;
00062         acc_y_array[x]=0;
00063     }
00064     
00065     while (1) {
00066         acc.getAxis(acc_raw);
00067         
00068         acc_x = acc_raw.x - acc_x_cal;
00069         acc_y = acc_raw.y - acc_y_cal;
00070 
00071         acc_x_array[acc_sample_cnt]=(int)(acc_x>>2);
00072         acc_y_array[acc_sample_cnt]=(int)(acc_y>>2);
00073 
00074         acc_sample_cnt++;
00075         if (acc_sample_cnt>=ACC_SAMPLE_SIZE) acc_sample_cnt = 0;
00076 
00077         acc_x_avg=0;
00078         acc_y_avg=0;
00079         for (int x=0; x<ACC_SAMPLE_SIZE; x++) {
00080             acc_x_avg=acc_x_avg+acc_x_array[x];
00081             acc_y_avg=acc_y_avg+acc_y_array[x];
00082         }
00083         acc_x_avg = (int)(acc_x_avg/ACC_SAMPLE_SIZE);
00084         acc_y_avg = (int)(acc_y_avg/ACC_SAMPLE_SIZE);
00085 
00086         //pc.printf("%d (%d)\t%d (%d)\n\r",acc_x_avg,acc_raw.x,acc_y_avg,acc_raw.y);
00087 
00088         txData[0] = (acc_x_avg) & 0xff;
00089         txData[1] = (acc_x_avg>>8)  & 0xff;
00090         txData[2] = (acc_x_avg>>16)  & 0xff;
00091         txData[3] = (acc_x_avg>>24)  & 0xff;
00092     
00093         txData[4] = (acc_y_avg) & 0xff;
00094         txData[5] = (acc_y_avg>>8)  & 0xff;
00095         txData[6] = (acc_y_avg>>16)  & 0xff;
00096         txData[7] = (acc_y_avg>>24)  & 0xff;
00097         
00098         txData[8] = (char)(fire_button.read());
00099         myled1 = fire_button.read();
00100         myled3 = !myled1;
00101         
00102         my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, sizeof( txData ) );
00103         
00104         wait(0.001);
00105         
00106         if (cal_button.read()==0) {
00107             myled2 = 0;
00108             myled3 = 1;
00109             
00110             acc_x_avg=0;
00111             acc_y_avg=0;
00112             for (int x=0; x<ACC_SAMPLE_SIZE; x++) {
00113                 acc.getAxis(acc_raw);
00114                 acc_x_avg=acc_x_avg+acc_raw.x;
00115                 acc_y_avg=acc_y_avg+acc_raw.y;
00116                 wait(0.01);
00117             }
00118             acc_x_cal = (int)(acc_x_avg/ACC_SAMPLE_SIZE);
00119             acc_y_cal = (int)(acc_y_avg/ACC_SAMPLE_SIZE);
00120             myled2 = 1;
00121             myled3 = 0;
00122         }
00123     
00124     }
00125 }