Louae Tyoan
/
EMBProject4SEND
Sender Mbed program for "Magician Mobile Robot Arm"
p4Send.cpp@0:aa99105568b0, 2014-10-21 (annotated)
- Committer:
- bedlou
- Date:
- Tue Oct 21 16:56:07 2014 +0000
- Revision:
- 0:aa99105568b0
Sender Mbed program for "Magician Mobile Robot Arm"
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bedlou | 0:aa99105568b0 | 1 | #include "mbed.h" |
bedlou | 0:aa99105568b0 | 2 | #include "nRF24L01P.h" |
bedlou | 0:aa99105568b0 | 3 | |
bedlou | 0:aa99105568b0 | 4 | Serial pc(USBTX, USBRX); // tx, rx |
bedlou | 0:aa99105568b0 | 5 | |
bedlou | 0:aa99105568b0 | 6 | nRF24L01P NRFT(p5, p6, p7, p8, p9, p10); // mosi, miso, sck, csn, ce, irq |
bedlou | 0:aa99105568b0 | 7 | |
bedlou | 0:aa99105568b0 | 8 | AnalogIn Vert(p19); |
bedlou | 0:aa99105568b0 | 9 | AnalogIn Horz(p20); |
bedlou | 0:aa99105568b0 | 10 | AnalogIn Lslide(p16); |
bedlou | 0:aa99105568b0 | 11 | AnalogIn Rslide(p15); |
bedlou | 0:aa99105568b0 | 12 | |
bedlou | 0:aa99105568b0 | 13 | PwmOut led1(LED1); |
bedlou | 0:aa99105568b0 | 14 | PwmOut led2(LED2); |
bedlou | 0:aa99105568b0 | 15 | PwmOut led3(LED3); |
bedlou | 0:aa99105568b0 | 16 | PwmOut led4(LED4); |
bedlou | 0:aa99105568b0 | 17 | |
bedlou | 0:aa99105568b0 | 18 | int main() { |
bedlou | 0:aa99105568b0 | 19 | |
bedlou | 0:aa99105568b0 | 20 | // The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's |
bedlou | 0:aa99105568b0 | 21 | // "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019) |
bedlou | 0:aa99105568b0 | 22 | // only handles 4 byte transfers in the ATMega code. |
bedlou | 0:aa99105568b0 | 23 | #define TRANSFER_SIZE 17 |
bedlou | 0:aa99105568b0 | 24 | |
bedlou | 0:aa99105568b0 | 25 | char txData[TRANSFER_SIZE]; |
bedlou | 0:aa99105568b0 | 26 | //int txDataCnt = 0; |
bedlou | 0:aa99105568b0 | 27 | |
bedlou | 0:aa99105568b0 | 28 | NRFT.powerUp(); |
bedlou | 0:aa99105568b0 | 29 | |
bedlou | 0:aa99105568b0 | 30 | // Display the (default) setup of the nRF24L01+ chip |
bedlou | 0:aa99105568b0 | 31 | pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", NRFT.getRfFrequency() ); |
bedlou | 0:aa99105568b0 | 32 | pc.printf( "nRF24L01+ Output power : %d dBm\r\n", NRFT.getRfOutputPower() ); |
bedlou | 0:aa99105568b0 | 33 | pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", NRFT.getAirDataRate() ); |
bedlou | 0:aa99105568b0 | 34 | pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", NRFT.getTxAddress() ); |
bedlou | 0:aa99105568b0 | 35 | pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", NRFT.getRxAddress() ); |
bedlou | 0:aa99105568b0 | 36 | |
bedlou | 0:aa99105568b0 | 37 | pc.printf( "Type keys to test transfers:\r\n (transfers are grouped into %d characters)\r\n", TRANSFER_SIZE ); |
bedlou | 0:aa99105568b0 | 38 | |
bedlou | 0:aa99105568b0 | 39 | NRFT.setTransferSize( TRANSFER_SIZE ); |
bedlou | 0:aa99105568b0 | 40 | |
bedlou | 0:aa99105568b0 | 41 | NRFT.setTransmitMode(); |
bedlou | 0:aa99105568b0 | 42 | NRFT.enable(); |
bedlou | 0:aa99105568b0 | 43 | |
bedlou | 0:aa99105568b0 | 44 | while (1) { |
bedlou | 0:aa99105568b0 | 45 | |
bedlou | 0:aa99105568b0 | 46 | /*// If we've received anything over the host serial link... |
bedlou | 0:aa99105568b0 | 47 | if ( pc.readable() ) { |
bedlou | 0:aa99105568b0 | 48 | |
bedlou | 0:aa99105568b0 | 49 | // ...add it to the transmit buffer |
bedlou | 0:aa99105568b0 | 50 | txData[txDataCnt++] = pc.getc(); |
bedlou | 0:aa99105568b0 | 51 | |
bedlou | 0:aa99105568b0 | 52 | // If the transmit buffer is full |
bedlou | 0:aa99105568b0 | 53 | if ( txDataCnt >= sizeof( txData ) ) { |
bedlou | 0:aa99105568b0 | 54 | |
bedlou | 0:aa99105568b0 | 55 | // Send the transmitbuffer via the nRF24L01+ |
bedlou | 0:aa99105568b0 | 56 | NRFT.write( NRF24L01P_PIPE_P0, txData, txDataCnt ); |
bedlou | 0:aa99105568b0 | 57 | |
bedlou | 0:aa99105568b0 | 58 | txDataCnt = 0; |
bedlou | 0:aa99105568b0 | 59 | } |
bedlou | 0:aa99105568b0 | 60 | |
bedlou | 0:aa99105568b0 | 61 | // Toggle LED1 (to help debug Host -> nRF24L01+ communication) |
bedlou | 0:aa99105568b0 | 62 | myled1 = !myled1; |
bedlou | 0:aa99105568b0 | 63 | }*/ |
bedlou | 0:aa99105568b0 | 64 | int LSL,RSL,VER,HOR; |
bedlou | 0:aa99105568b0 | 65 | |
bedlou | 0:aa99105568b0 | 66 | while(1) |
bedlou | 0:aa99105568b0 | 67 | { |
bedlou | 0:aa99105568b0 | 68 | //wait(0.1); |
bedlou | 0:aa99105568b0 | 69 | |
bedlou | 0:aa99105568b0 | 70 | LSL = float(Lslide)*1000; |
bedlou | 0:aa99105568b0 | 71 | txData[0] = LSL & 255; |
bedlou | 0:aa99105568b0 | 72 | txData[1] = (LSL >> 8) & 255; |
bedlou | 0:aa99105568b0 | 73 | txData[2] = (LSL >> 16) & 255; |
bedlou | 0:aa99105568b0 | 74 | txData[3] = (LSL >> 24) & 255; |
bedlou | 0:aa99105568b0 | 75 | led1 = Lslide; |
bedlou | 0:aa99105568b0 | 76 | |
bedlou | 0:aa99105568b0 | 77 | VER = float(Vert)*1000; |
bedlou | 0:aa99105568b0 | 78 | txData[4] = VER & 255; |
bedlou | 0:aa99105568b0 | 79 | txData[5] = (VER >> 8) & 255; |
bedlou | 0:aa99105568b0 | 80 | txData[6] = (VER >> 16) & 255; |
bedlou | 0:aa99105568b0 | 81 | txData[7] = (VER >> 24) & 255; |
bedlou | 0:aa99105568b0 | 82 | led2 = Vert; |
bedlou | 0:aa99105568b0 | 83 | |
bedlou | 0:aa99105568b0 | 84 | HOR = float(Horz)*1000; |
bedlou | 0:aa99105568b0 | 85 | txData[8] = HOR & 255; |
bedlou | 0:aa99105568b0 | 86 | txData[9] = (HOR >> 8) & 255; |
bedlou | 0:aa99105568b0 | 87 | txData[10] = (HOR >> 16) & 255; |
bedlou | 0:aa99105568b0 | 88 | txData[11] = (HOR >> 24) & 255; |
bedlou | 0:aa99105568b0 | 89 | led3 = Horz; |
bedlou | 0:aa99105568b0 | 90 | |
bedlou | 0:aa99105568b0 | 91 | RSL = float(Rslide)*1000; |
bedlou | 0:aa99105568b0 | 92 | txData[12] = RSL & 255; |
bedlou | 0:aa99105568b0 | 93 | txData[13] = (RSL >> 8) & 255; |
bedlou | 0:aa99105568b0 | 94 | txData[14] = (RSL >> 16) & 255; |
bedlou | 0:aa99105568b0 | 95 | txData[15] = (RSL >> 24) & 255; |
bedlou | 0:aa99105568b0 | 96 | led4 = Rslide; |
bedlou | 0:aa99105568b0 | 97 | txData[16] = 'a'; |
bedlou | 0:aa99105568b0 | 98 | |
bedlou | 0:aa99105568b0 | 99 | NRFT.write( NRF24L01P_PIPE_P0, txData, TRANSFER_SIZE ); |
bedlou | 0:aa99105568b0 | 100 | //wait(0.1); |
bedlou | 0:aa99105568b0 | 101 | } |
bedlou | 0:aa99105568b0 | 102 | } |
bedlou | 0:aa99105568b0 | 103 | } |