Diff: main.cpp

Revision:

6:1d7d769b398d

Parent:

5:6d8f9165021e

Child:

7:7a73065d2d92

--- a/main.cpp	Tue Apr 21 01:49:44 2015 +0000
+++ b/main.cpp	Wed Apr 22 06:17:52 2015 +0000
@@ -1,12 +1,14 @@
 #include "mbed.h"
 #include <vector>
 #define BUFFER_SIZE 16
-#define NUMBER_OF_SLICES 90
+#define NUMBER_OF_SLICES 120
+#include "MRF24J40.h"
 
-//DigitalOut Pins
+//push data pins
 DigitalOut pushRegister(p23);
 DigitalOut pushBit(p24);
 
+//write to arm pins
 DigitalOut dataArmOne(p15);
 DigitalOut dataArmTwo(p16);
 DigitalOut dataArmThree(p17);
@@ -15,9 +17,8 @@
 DigitalOut dataArmSix(p20);
 DigitalOut dataArmSeven(p21);
 DigitalOut dataArmEight(p22);
-DigitalOut led(LED1);
 
-//Enable Interupt
+//hass sensor interupt
 InterruptIn hallSensor(p25);
 
 //Set Up Timer and ticker
@@ -26,16 +27,49 @@
 
 //Declare global vars
 double slice_time;
-double rotate_time;
+double rotate_time; 
 int current_slice;
 char slice_data [NUMBER_OF_SLICES][16]; //[slice][specific led distance] (0 is closest) & with approppriate bit for each arm 
-double firstTime;
+int firstTime;
 
+//serial port for pc and bluetooth
 Serial pc(USBTX, USBRX); // tx, rx
 Serial bt(p9, p10);// tx, rx
 
+//define variables for ziggbee
+MRF24J40 mrf(p11, p12, p13, p14, p26);
+char txBuffer[128];
+char rxBuffer[128];
+int rxLen;
+
+
+int rf_receive(char *data, uint8_t maxLength)
+{
+    uint8_t len = mrf.Receive((uint8_t *)data, maxLength);
+    uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
+ 
+    if(len > 10) {
+        //Remove the header and footer of the message
+        for(uint8_t i = 0; i < len-2; i++) {
+            if(i<8) {
+                //Make sure our header is valid first
+                if(data[i] != header[i])
+                    return 0;
+            } else {
+                data[i-8] = data[i];
+            }
+        }
+ 
+        //pc.printf("Received: %s length:%d\r\n", data, ((int)len)-10);
+    }
+    return ((int)len)-10;
+}
+void recievePoint (int slice, int distance, char addChar){
+    //TODO make this edit the other thing
+}
 
 void pushData (char bits [16]){
+  bt.printf("pushing data \r\n");
   for (int i = 8; i < 16; i ++){
     dataArmOne = bits [i] & 0x01;
     dataArmTwo = bits [i] & 0x02;
@@ -80,19 +114,17 @@
 
 //Hall sensor interupt
 void rotate_sense(){
-  pc.printf("interupt");
+  bt.printf("interupt");
   if (firstTime){
     rotationTime.reset();
     rotationTime.start();
-    firstTime = 0;
+    firstTime = false;
     pc.printf("first time");
-    led = !led;
     return;
   } else if(current_slice < NUMBER_OF_SLICES / 4){
       return;
       }
-  pc.printf("seconod time \n");
-  led = !led;
+  bt.printf("seconod time \n");
     rotate_time = rotationTime.read_us();
     rotationTime.reset();    
     rotationTime.start();
@@ -102,14 +134,21 @@
     updateLeds.attach_us(&nextLedPush, slice_time);
 }
 
+void didRecievePoint(){
+}
+
 
 int main() {
-  pc.printf("started");
-  firstTime = 1;
-  current_slice = 90;
+    bt.printf("started");
+    firstTime = true;
+    current_slice = 0;
+    
+    uint8_t channel = 6;
+    //mrf.SetChannel(channel);
     
     hallSensor.fall(&rotate_sense);
-    for (int i = 0; i < 45; i ++){
+    
+    for (int i = 0; i < 60; i ++){
         slice_data [i][0] = 0x01; // bit 0 is high on arm 0
         slice_data [i][1] = 0x01;
         slice_data [i][2] = 0x01;
@@ -127,7 +166,7 @@
         slice_data [i][14] = 0x01;
         slice_data [i][15] = 0x01;
     }
-    for (int i = 45; i < 90; i++){
+    for (int i = 60; i < 120; i++){
         slice_data [i][0] = 0x00; // bit 0 is high on arm 0
         slice_data [i][1] = 0x01;
         slice_data [i][2] = 0x00;
@@ -145,10 +184,14 @@
         slice_data [i][14] = 0x00;
         slice_data [i][15] = 0x01;
     }
-    while(1) {
-      if (bt.readable()){
-          pc.printf("Just read %c", bt.getc());
-          }       
-     
+    
+    pushData(slice_data[80]);
+    while(true) {
+        //Try to receive some data
+        
+        //rxLen = rf_receive(rxBuffer, 24);
+        //if(rxLen > 24) {
+            
+        //}
     }
 }