Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen. https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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/*
*
* Filename : rpi-hub.cpp
*
* This program makes the RPi as a hub listening to all six pipes from the remote sensor nodes ( usually Arduino )
* and will return the packet back to the sensor on pipe0 so that the sender can calculate the round trip delays
* when the payload matches.
*
* I encounter that at times, it also receive from pipe7 ( or pipe0 ) with content of FFFFFFFFF that I will not sent
* back to the sender
*
* Refer to RF24/examples/rpi_hub_arduino/ for the corresponding Arduino sketches to work with this code.
*
*
* CE is not used and CSN is GPIO25 (not pinout)
*
* Refer to RPi docs for GPIO numbers
*
* Author : Stanley Seow
* e-mail : stanleyseow@gmail.com
* date : 6th Mar 2013
*
* 03/17/2013 : Charles-Henri Hallard (http://hallard.me)
* Modified to use with Arduipi board http://hallard.me/arduipi
* Changed to use modified bcm2835 and RF24 library
*
*
*/
#include <cstdlib>
#include <iostream>
#include <RF24/RF24.h>
using namespace std;
// Radio pipe addresses for the 2 nodes to communicate.
// First pipe is for writing, 2nd, 3rd, 4th, 5th & 6th is for reading...
const uint64_t pipes[6] =
{ 0xF0F0F0F0D2LL, 0xF0F0F0F0E1LL,
0xF0F0F0F0E2LL, 0xF0F0F0F0E3LL,
0xF0F0F0F0F1, 0xF0F0F0F0F2
};
// CE Pin, CSN Pin, SPI Speed
// Setup for GPIO 22 CE and GPIO 25 CSN with SPI Speed @ 1Mhz
//RF24 radio(RPI_V2_GPIO_P1_22, RPI_V2_GPIO_P1_18, BCM2835_SPI_SPEED_1MHZ);
// Setup for GPIO 22 CE and CE0 CSN with SPI Speed @ 4Mhz
//RF24 radio(RPI_V2_GPIO_P1_15, BCM2835_SPI_CS0, BCM2835_SPI_SPEED_4MHZ);
// Setup for GPIO 22 CE and CE1 CSN with SPI Speed @ 8Mhz
RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);
int main(int argc, char** argv)
{
uint8_t len;
// Refer to RF24.h or nRF24L01 DS for settings
radio.begin();
radio.enableDynamicPayloads();
radio.setAutoAck(1);
radio.setRetries(15,15);
radio.setDataRate(RF24_1MBPS);
radio.setPALevel(RF24_PA_MAX);
radio.setChannel(76);
radio.setCRCLength(RF24_CRC_16);
// Open 6 pipes for readings ( 5 plus pipe0, also can be used for reading )
radio.openWritingPipe(pipes[0]);
radio.openReadingPipe(1,pipes[1]);
radio.openReadingPipe(2,pipes[2]);
radio.openReadingPipe(3,pipes[3]);
radio.openReadingPipe(4,pipes[4]);
radio.openReadingPipe(5,pipes[5]);
//
// Start listening
//
radio.startListening();
//
// Dump the configuration of the rf unit for debugging
//
radio.printDetails();
printf("Output below : \n");
delay(1);
while(1)
{
char receivePayload[32];
uint8_t pipe = 1;
// Start listening
radio.startListening();
while ( radio.available(&pipe) )
{
len = radio.getDynamicPayloadSize();
radio.read( receivePayload, len );
// Display it on screen
printf("Recv: size=%i payload=%s pipe=%i",len,receivePayload,pipe);
// Send back payload to sender
radio.stopListening();
// if pipe is 7, do not send it back
if ( pipe != 7 )
{
radio.write(receivePayload,len);
receivePayload[len]=0;
printf("\t Send: size=%i payload=%s pipe:%i\n",len,receivePayload,pipe);
}
else
{
printf("\n");
}
pipe++;
// reset pipe to 0
if ( pipe > 6 )
pipe = 0;
}
delayMicroseconds(20);
}
return 0;
}