Diff: main.cpp

Revision:

0:6e6d30df73c4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 09 16:01:57 2016 +0000
@@ -0,0 +1,97 @@
+#include "mbed.h"
+#include "nRF24L01P.h"
+
+#define V_SERVO_CENTER 1800
+#define V_SERVO_MAX 2200
+#define V_SERVO_MIN 800
+#define H_SERVO_CENTER 1600
+#define H_SERVO_MAX 2200
+#define H_SERVO_MIN 800
+#define TRANSFER_SIZE   9
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+nRF24L01P my_nrf24l01p(PTD6, PTD7, PTD5, PTD4, PTC12, PTC18);    // mosi, miso, sck, csn, ce, irq
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+
+PwmOut v_servo(PTC2);
+PwmOut h_servo(PTA2);
+
+int main() {
+
+    myled1 = 1;
+    myled2 = 1;
+    myled3 = 0;
+
+    pc.baud(115200);
+    char rxData[TRANSFER_SIZE];
+    int rxDataCnt = 0;
+
+    my_nrf24l01p.setRxAddress(0xDEADBEEF0F);
+    my_nrf24l01p.powerUp();
+
+    // Display the (default) setup of the nRF24L01+ chip
+    pc.printf( "nRF24L01+ Frequency    : %d MHz\r\n",  my_nrf24l01p.getRfFrequency() );
+    pc.printf( "nRF24L01+ Output power : %d dBm\r\n",  my_nrf24l01p.getRfOutputPower() );
+    pc.printf( "nRF24L01+ Data Rate    : %d kbps\r\n", my_nrf24l01p.getAirDataRate() );
+    pc.printf( "nRF24L01+ TX Address   : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() );
+    pc.printf( "nRF24L01+ RX Address   : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() );
+
+    pc.printf( "This is the Receiver\r\n");
+
+    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
+
+    my_nrf24l01p.setReceiveMode();
+    my_nrf24l01p.enable();
+
+    
+    v_servo.period_us(20000);          // servo requires a 20ms period
+    v_servo.pulsewidth_us(V_SERVO_CENTER);
+    h_servo.period_us(20000);          // servo requires a 20ms period
+    h_servo.pulsewidth_us(H_SERVO_CENTER);
+    
+    int v_pulse = V_SERVO_CENTER;
+    int h_pulse = H_SERVO_CENTER;
+
+    v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
+    h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
+
+    wait(0.5);
+    
+    int32_t acc_x, acc_y;
+    
+    while (1) {
+
+        // If we've received anything in the nRF24L01+...
+        if ( my_nrf24l01p.readable() ) {
+            pc.printf("I just received data");
+            
+            // ...read the data into the receive buffer
+            rxDataCnt = my_nrf24l01p.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
+
+            // Display the receive buffer contents via the host serial link
+            acc_x = (int32_t)((rxData[0])|(rxData[1]<<8)|(rxData[2]<<16)|(rxData[3]<<24));
+            acc_y = (int32_t)((rxData[4])|(rxData[5]<<8)|(rxData[6]<<16)|(rxData[7]<<24));
+           
+            pc.printf("%d\t%d\t- \n\r",acc_x,acc_y);
+            pc.printf("%01x %01x %01x %01x %01x %01x\n\r",rxData[1],rxData[0],rxData[3],rxData[2],rxData[5],rxData[4]);
+            
+            v_pulse = V_SERVO_CENTER + acc_x;
+            h_pulse = H_SERVO_CENTER + acc_y;
+    
+            if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
+            if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
+    
+            if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
+            if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
+    
+            v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
+            h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
+            
+            pc.printf("%d\t%d\t\n\r",v_pulse,h_pulse); 
+        }
+    }
+}
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