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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/*
TMRh20 2014
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
version 2 as published by the Free Software Foundation.
*/
/** General Data Transfer Rate Test
* This example demonstrates basic data transfer functionality with the
updated library. This example will display the transfer rates acheived using
the slower form of high-speed transfer using blocking-writes.
*/
#include <cstdlib>
#include <iostream>
#include <sstream>
#include <string>
#include <RF24/RF24.h>
#include <unistd.h>
using namespace std;
//
// Hardware configuration
//
/****************** Raspberry Pi ***********************/
// Radio CE Pin, CSN Pin, SPI Speed
// See http://www.airspayce.com/mikem/bcm2835/group__constants.html#ga63c029bd6500167152db4e57736d0939 and the related enumerations for pin information.
// Setup for GPIO 22 CE and CE0 CSN with SPI Speed @ 4Mhz
//RF24 radio(RPI_V2_GPIO_P1_22, BCM2835_SPI_CS0, BCM2835_SPI_SPEED_4MHZ);
// NEW: Setup for RPi B+
//RF24 radio(RPI_BPLUS_GPIO_J8_15,RPI_BPLUS_GPIO_J8_24, BCM2835_SPI_SPEED_8MHZ);
// Setup for GPIO 15 CE and CE0 CSN with SPI Speed @ 8Mhz
RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);
/*** RPi Alternate ***/
//Note: Specify SPI BUS 0 or 1 instead of CS pin number.
// See http://tmrh20.github.io/RF24/RPi.html for more information on usage
//RPi Alternate, with MRAA
//RF24 radio(15,0);
//RPi Alternate, with SPIDEV - Note: Edit RF24/arch/BBB/spi.cpp and set 'this->device = "/dev/spidev0.0";;' or as listed in /dev
//RF24 radio(22,0);
/****************** Linux (BBB,x86,etc) ***********************/
// See http://tmrh20.github.io/RF24/pages.html for more information on usage
// See http://iotdk.intel.com/docs/master/mraa/ for more information on MRAA
// See https://www.kernel.org/doc/Documentation/spi/spidev for more information on SPIDEV
// Setup for ARM(Linux) devices like BBB using spidev (default is "/dev/spidev1.0" )
//RF24 radio(115,0);
//BBB Alternate, with mraa
// CE pin = (Header P9, Pin 13) = 59 = 13 + 46
//Note: Specify SPI BUS 0 or 1 instead of CS pin number.
//RF24 radio(59,0);
/**************************************************************/
// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t addresses[2] = { 0xABCDABCD71LL, 0x544d52687CLL };
uint8_t data[32];
unsigned long startTime, stopTime, counter, rxTimer=0;
void intHandler()
{
//Read as long data is available
//Single interrupts may be lost if a lot of data comes in.
while(radio.available())
{
radio.read(&data,32);
counter++;
}
}
int main(int argc, char** argv){
bool role_ping_out = 1, role_pong_back = 0;
bool role = 0;
// Print preamble:
cout << "RF24/examples/Transfer/\n";
radio.begin(); // Setup and configure rf radio
radio.setChannel(1);
radio.setPALevel(RF24_PA_MAX);
radio.setDataRate(RF24_1MBPS);
radio.setAutoAck(1); // Ensure autoACK is enabled
radio.setRetries(2,15); // Optionally, increase the delay between retries & # of retries
radio.setCRCLength(RF24_CRC_8); // Use 8-bit CRC for performance
radio.printDetails();
/********* Role chooser ***********/
printf("\n ************ Role Setup ***********\n");
string input = "";
char myChar = {0};
cout << "Choose a role: Enter 0 for receiver, 1 for transmitter (CTRL+C to exit)\n>";
getline(cin,input);
attachInterrupt(23, INT_EDGE_FALLING, intHandler); //Attach interrupt to bcm pin 23
if(input.length() == 1) {
myChar = input[0];
if(myChar == '0'){
cout << "Role: Pong Back, awaiting transmission " << endl << endl;
}else{ cout << "Role: Ping Out, starting transmission " << endl << endl;
role = role_ping_out;
}
}
/***********************************/
if ( role == role_ping_out ) {
radio.openWritingPipe(addresses[1]);
radio.openReadingPipe(1,addresses[0]);
radio.stopListening();
} else {
radio.openWritingPipe(addresses[0]);
radio.openReadingPipe(1,addresses[1]);
radio.startListening();
}
for(int i=0; i<32; i++){
data[i] = rand() % 255; //Load the buffer with random data
}
// forever loop
while (1)
{
if (role == role_ping_out){
sleep(2);
printf("Initiating Basic Data Transfer\n\r");
long int cycles = 10000; //Change this to a higher or lower number.
// unsigned long pauseTime = millis(); //Uncomment if autoAck == 1 ( NOACK )
startTime = millis();
for(int i=0; i<cycles; i++){ //Loop through a number of cycles
data[0] = i; //Change the first byte of the payload for identification
if(!radio.writeFast(&data,32)){ //Write to the FIFO buffers
counter++; //Keep count of failed payloads
}
//This is only required when NO ACK ( enableAutoAck(0) ) payloads are used
/* if(millis() - pauseTime > 3){ // Need to drop out of TX mode every 4ms if sending a steady stream of multicast data
pauseTime = millis();
radio.txStandBy(); // This gives the PLL time to sync back up
}
*/
}
stopTime = millis();
if(!radio.txStandBy()){ counter+=3; }
float numBytes = cycles*32;
float rate = numBytes / (stopTime - startTime);
printf("Transfer complete at %.2f KB/s \n\r",rate);
printf("%lu of %lu Packets Failed to Send\n\r",counter,cycles);
counter = 0;
}
if(role == role_pong_back)
{
if(millis() - rxTimer > 1000){
rxTimer = millis();
printf("Rate: ");
float numBytes = counter*32;
printf("%.2f KB/s \n\r",numBytes/1000);
printf("Payload Count: %lu \n\r", counter);
counter = 0;
}
delay(2);
}
} // loop
} // main