Revision 3:ffdc85db2044, committed 2019-04-21

Comitter:

AlexQian

Date:

Sun Apr 21 06:50:40 2019 +0000

Parent:

2:4704fdd9ef91

Commit message:

111

Changed in this revision

--- a/main.cpp	Sun Dec 24 03:12:05 2017 +0000
+++ b/main.cpp	Sun Apr 21 06:50:40 2019 +0000
@@ -1,87 +1,142 @@
+#define HIGH 1
+#define LOW 0
 #include "mbed.h"
+#include <string>
+typedef bool boolean;
+typedef std::string String;
 #include "nRF24L01P.h"
-#define TRANSFER_SIZE   12
-#define Send_Repeat_Times 10//命令重发次数
-#define command_roll 0x51
-#define command_start 0x50
-#define command_end 0x52
-#define command_slow 0x53
-
-int flag=0;//发送状态标志 0：发送姿态命令 1：发送启动命令 2：发送急停命令 3：发送缓降命令
-char txdata[TRANSFER_SIZE];
 
-nRF24L01P my_nrf24l01p(PB_15, PB_14, PB_13, PB_6, PB_5, PB_7);    // mosi, miso, sck, csn, ce, irq
-
-DigitalOut myled1(PA_6);
-DigitalOut myled2(PA_7);
+char txdata[32] ;
+float LX;
+float LY;
+float RX;
+float RY;
+int Yaw;
+int Roll;
+int Pitch;
+int Power;
+long CycleCount;
+int Yaw_config;
+int Pitch_config;
+int Roll_config;
+char i;
+long SendCount;
 
-//DigitalIn sz_n(PB_10),sz_p(PA_5),sx_p(PB_0),sx_n(PB_1),sy_p(PB_3),sy_n(PB_4);
-AnalogIn L_X(PA_0),L_Y(PA_1),R_X(PA_2),R_Y(PA_3);
-InterruptIn START(PB_4),END(PB_3),SLOW(PB_0);
-Serial pc(PA_9,PA_10,9600);
+#define NRF24_TRANSFER_SIZE 32
+nRF24L01P nrf24_PB_15(PB_15,PB_14,PB_13,PB_6,PB_5,PB_7);
+Serial Serial_1(PA_9,PA_10);
+InterruptIn intrPB_0(PB_0);
+InterruptIn intrPB_1(PB_1);
+InterruptIn intrPB_3(PB_3);
+InterruptIn intrPB_4(PB_4);
+InterruptIn intrPA_5(PA_5);
+InterruptIn intrPB_10(PB_10);
+DigitalOut myDigitalOutPA_7(PA_7);
+AnalogIn myIOPA_0(PA_0);
+AnalogIn myIOPA_1(PA_1);
+AnalogIn myIOPA_2(PA_2);
+AnalogIn myIOPA_3(PA_3);
+Ticker tick742927;
+DigitalOut myDigitalOutPA_6(PA_6);
 
-void start(){flag=1;}
-void end(){flag=2;}
-void slow(){flag = 3;}
+void intrPB_0_interrupt_fun() {
+Pitch_config = Pitch_config + 1;
+}
 
-int main() {
-    for(int i=0;i!=TRANSFER_SIZE;i++)
-        txdata[i] = 0;   
-    my_nrf24l01p.powerUp();
-    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
-    my_nrf24l01p.setReceiveMode();
-    my_nrf24l01p.enable();
-    
-    myled1 = 0;
-    myled2 = 0;
-    
-    START.mode(PullDown);
-    END.mode(PullDown);
-    SLOW.mode(PullDown);
-    START.rise(&start);
-    END.rise(&end);
-    SLOW.rise(&slow);
-    while (1) {
-         switch (flag)
-        {
-            case 0:
-                txdata[0]= command_roll;    
-                short int data[4];
-                data[0] = L_X.read_u16();
-                data[1] = L_Y.read_u16();
-                data[2] = R_X.read_u16();
-                data[3] = R_Y.read_u16();
-                txdata[2] = data[0];
-                txdata[1] = data[0] >> 8;
-                txdata[4] = data[1];
-                txdata[3] = data[1] >> 8;
-                txdata[6] = data[2];
-                txdata[5] = data[2] >> 8;
-                txdata[8] = data[3];
-                txdata[7] = data[3] >> 8;
-                txdata[9] = 0;
-                txdata[10] = 0;
-                txdata[11] = 0;    
-                my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12);
-            break;        
-            case 1:
-                txdata[0] = command_start;
-                for(int i=0;i<Send_Repeat_Times;i++) {my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12); wait(0.01);}
-                flag = 0;
-            break;
-            case 2:
-                txdata[0] = command_end;
-                for(int i=0;i<Send_Repeat_Times;i++) {my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12); wait(0.01);}
-                flag = 0;
-            break;
-            case 3:
-                txdata[0] = command_slow;
-                for(int i=0;i<Send_Repeat_Times;i++) {my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12); wait(0.01);}
-                flag = 0;
-            break;      
-        }
-        wait(0.05);//防止过快发送造成命令无法被接收     
-    }
+void intrPB_1_interrupt_fun() {
+Pitch_config = Pitch_config - 1;
+}
+
+void intrPB_3_interrupt_fun() {
+Roll_config = Roll_config + 1;
+}
+
+void intrPB_4_interrupt_fun() {
+Roll_config = Roll_config - 1;
+}
+
+void intrPA_5_interrupt_fun() {
+Yaw_config = Yaw_config + 1;
+}
+
+void intrPB_10_interrupt_fun() {
+Yaw_config = Yaw_config - 1;
+}
+
+void tick742927_handle() {
+SendCount = SendCount + 1;
+myDigitalOutPA_7.write((CycleCount % 2 == 0));
+LX = myIOPA_0.read();
+LY = myIOPA_1.read();
+RX = myIOPA_2.read();
+RY = myIOPA_3.read();
+Power = (1 - LY) * 1000 + 1000;
+Yaw = (1 - LX) * 1000 + 1000;
+Pitch = (1 - RY) * 1000 + 1000;
+Roll = (1 - RX) * 1000 + 1000;
+txdata[0] = 36;
+txdata[1] = 77;
+txdata[2] = 60;
+txdata[3] = 16;
+txdata[4] = 105;
+txdata[5] = Roll % 256;
+txdata[6] = Roll / 256;
+txdata[7] = Pitch % 256;
+txdata[8] = Pitch / 256;
+txdata[9] = Yaw % 256;
+txdata[10] = Yaw / 256;
+txdata[11] = Power % 256;
+txdata[12] = Power / 256;
+txdata[13] = 0;
+txdata[14] = 0;
+txdata[15] = 0;
+txdata[16] = 0;
+txdata[17] = 0;
+txdata[18] = 0;
+nrf24_PB_15.write( NRF24L01P_PIPE_P0, txdata, NRF24_TRANSFER_SIZE);
 }
 
 
+int main() {
+nrf24_PB_15.powerUp();
+nrf24_PB_15.setTransferSize( NRF24_TRANSFER_SIZE );
+nrf24_PB_15.setReceiveMode();
+nrf24_PB_15.setRxAddress(1ull);
+nrf24_PB_15.setTxAddress(1ull);
+nrf24_PB_15.enable();
+
+Serial_1.baud(9600);
+
+intrPB_0.fall(&intrPB_0_interrupt_fun);
+intrPB_0.mode(PullNone);
+intrPB_1.fall(&intrPB_1_interrupt_fun);
+intrPB_1.mode(PullNone);
+intrPB_3.fall(&intrPB_3_interrupt_fun);
+intrPB_3.mode(PullNone);
+intrPB_4.fall(&intrPB_4_interrupt_fun);
+intrPB_4.mode(PullNone);
+intrPA_5.fall(&intrPA_5_interrupt_fun);
+intrPA_5.mode(PullNone);
+intrPB_10.fall(&intrPB_10_interrupt_fun);
+intrPB_10.mode(PullNone);
+
+tick742927.attach(&tick742927_handle,0.01);
+
+Roll_config = 0;
+Pitch_config = 0;
+Yaw_config = 0;
+CycleCount = 0;
+SendCount = 0;
+for (i = 1; i <= 32; i++) {
+txdata[(i - 1)] = 0;
+}
+while (true) {
+CycleCount = CycleCount + 1;
+myDigitalOutPA_6.write((CycleCount % 2 == 0));
+//for (i = 1; i <= 32; i++) {
+//Serial_1.printf("%d ",txdata[(i - 1)]);
+//}
+//Serial_1.printf("Next\n");
+}
+
+}
\ No newline at end of file