Diff: main.cpp

Revision:

0:f7767412c8b5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 11 06:53:43 2017 +0000
@@ -0,0 +1,164 @@
+#include "mbed.h"
+#include "BufferedSerial.h"
+ #include"nRF24L01P.h"
+Serial pc(PA_9, PA_10,  115200);//PA_9 PA_10 作为串口1连接串口转usb模块连接电脑
+BufferedSerial mod(PA_2, PA_3, 32);//PA_2，PA_3作为第二个串口与jy-901的串口端连接，进行通信
+
+nRF24L01P my_nrf24l01p(PB_15, PB_14, PB_13, PB_8, PB_9,PB_7);    // mosi, miso, sck, csn, ce, irq
+ 
+int state, token, payloadLen, recvLen;
+unsigned char payloadBuf[16];
+ 
+void parseCmpt(int token, unsigned char* payloadBuf, int payloadLen)
+{
+    float data[3];
+    switch(token){
+        case 0x51:
+            for (int i = 0; i < 3; ++i)
+            {
+                data[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+                data[i] = data[i] * 16 * 9.8 / 32768;
+            }
+            //pc.printf("Ax=%.2f\tAy=%.2f\tAz=%.2f\r\n", data[0], data[1], data[2]);
+            break;
+        case 0x52:
+            for (int i = 0; i < 3; ++i)
+            {
+                data[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+                data[i] = data[i] * 2000 / 32768;
+            }
+            //pc.printf("Wx=%.2f\tWy=%.2f\tWz=%.2f\r\n", data[0], data[1], data[2]);
+            break;
+        case 0x53:
+            for (int i = 0; i < 3; ++i)
+            {
+                data[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+                data[i] = data[i] * 180 / 32768;
+            }
+            pc.printf("Roll=%.2f\tPitch=%.2f\tYaw=%.2f\r\n", data[0], data[1], data[2]);
+            break;
+        case 0x54:
+            for (int i = 0; i < 3; ++i)
+            {
+                data[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+            }
+            //pc.printf("Hx=%.2f\tHy=%.2f\tHz=%.2f\r\n", data[0], data[1], data[2]);
+            break;
+    }
+}
+ 
+void parseInput(const char* data, int len)
+{
+    for (int i = 0; i < len; ++i)
+    {
+        unsigned char ch = data[i], sum;
+        switch(state){
+            case 0:
+                if(ch == 0x55)
+                    state = 1;
+                break;
+            case 1:
+                token = ch;
+                if(0x51 <= token && token <= 0x54){
+                    payloadLen = 8;
+                    recvLen = 0;
+                    state = 2;
+                }else{
+                    pc.printf("%s %x\r\n", "unknown token", token);
+                    state = 0;
+                }
+                break;
+            case 2:
+                payloadBuf[recvLen++] = ch;
+                if(recvLen == payloadLen){
+                    state = 3;
+                }
+                break;
+            case 3:
+                sum = 0x55;
+                sum += token;
+                for (int i = 0; i < payloadLen; ++i)
+                {
+                    sum += payloadBuf[i];
+                }
+                if(sum != ch){
+                    pc.printf("wrong checksum\r\n");
+                }else{
+                    parseCmpt(token, payloadBuf, payloadLen);
+                //    myled = !myled;
+                }
+                state = 0;
+                break;
+        }
+    }
+}
+ 
+int main()
+{
+     while(1) {
+        char ch;
+        if(mod.readable()){
+            ch = mod.getc();
+            pc.printf(&ch);
+        }
+    }//只需将jy-901模块从串口传出的信息原封不动传到电脑即可 在电脑端打开jy模块自带的上位机软件即可查看jy模块的各种信息及可视化后的图像。
+ /* #define TRANSFER_SIZE   4
+ 
+    char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
+    int txDataCnt = 0;
+    int rxDataCnt = 0;
+ 
+    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( "Type keys to test transfers:\r\n  (transfers are grouped into %d characters)\r\n", TRANSFER_SIZE );
+ 
+    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
+ 
+    my_nrf24l01p.setReceiveMode();
+    my_nrf24l01p.enable();
+ 
+ /*   while (1) {
+ 
+        // If we've received anything over the host serial link...
+        if ( pc.readable() ) {
+ 
+            // ...add it to the transmit buffer
+            txData[txDataCnt++] = pc.getc();
+ 
+            // If the transmit buffer is full
+            if ( txDataCnt >= sizeof( txData ) ) {
+ 
+                // Send the transmitbuffer via the nRF24L01+
+                my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, txDataCnt );
+ 
+                txDataCnt = 0;
+            }
+ 
+            // Toggle LED1 (to help debug Host -> nRF24L01+ communication)
+            myled1 = !myled1;
+        }
+ 
+        // If we've received anything in the nRF24L01+...
+        if ( my_nrf24l01p.readable() ) {
+ 
+            // ...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
+            for ( int i = 0; rxDataCnt > 0; rxDataCnt--, i++ ) {
+ 
+                pc.putc( rxData[i] );
+            }
+ 
+            // Toggle LED2 (to help debug nRF24L01+ -> Host communication)
+            myled2 = !myled2;
+        }
+    }*/  
+}
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