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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143 lines
2.7 KiB
143 lines
2.7 KiB
/*
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Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU General Public License
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version 2 as published by the Free Software Foundation.
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03/17/2013 : Charles-Henri Hallard (http://hallard.me)
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Modified to use with Arduipi board http://hallard.me/arduipi
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Changed to use modified bcm2835 and RF24 library
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*/
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/**
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* Channel scanner
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*
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* Example to detect interference on the various channels available.
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* This is a good diagnostic tool to check whether you're picking a
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* good channel for your application.
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*
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* Inspired by cpixip.
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* See http://arduino.cc/forum/index.php/topic,54795.0.html
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*/
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#include <cstdlib>
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#include <iostream>
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#include <RF24/RF24.h>
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using namespace std;
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//
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// Hardware configuration
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//
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// CE Pin, CSN Pin, SPI Speed
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// Setup for GPIO 22 CE and GPIO 25 CSN with SPI Speed @ 1Mhz
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//RF24 radio(RPI_V2_GPIO_P1_22, RPI_V2_GPIO_P1_18, BCM2835_SPI_SPEED_1MHZ);
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// Setup for GPIO 22 CE and CE0 CSN with SPI Speed @ 4Mhz
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//RF24 radio(RPI_V2_GPIO_P1_15, BCM2835_SPI_CS0, BCM2835_SPI_SPEED_4MHZ);
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// Setup for GPIO 22 CE and CE1 CSN with SPI Speed @ 8Mhz
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//RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);
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// Generic setup
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RF24 radio(22, 0);
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//
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// Channel info
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//
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const uint8_t num_channels = 126;
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uint8_t values[num_channels];
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const int num_reps = 100;
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int reset_array=0;
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int main(int argc, char** argv)
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{
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//
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// Print preamble
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//
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//Serial.begin(115200);
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//printf_begin();
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printf("RF24/examples/scanner/\n");
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//
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// Setup and configure rf radio
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//
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radio.begin();
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radio.setAutoAck(false);
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// Get into standby mode
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radio.startListening();
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radio.stopListening();
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radio.printDetails();
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// Print out header, high then low digit
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int i = 0;
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while ( i < num_channels )
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{
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printf("%x",i>>4);
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++i;
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}
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printf("\n");
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i = 0;
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while ( i < num_channels )
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{
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printf("%x",i&0xf);
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++i;
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}
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printf("\n");
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// forever loop
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while(1)
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{
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// Clear measurement values
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memset(values,0,sizeof(values));
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// Scan all channels num_reps times
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int rep_counter = num_reps;
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while(rep_counter--)
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{
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int i = num_channels;
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while (i--)
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{
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// Select this channel
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radio.setChannel(i);
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// Listen for a little
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radio.startListening();
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delayMicroseconds(128);
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radio.stopListening();
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// Did we get a carrier?
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if ( radio.testCarrier() ) ++values[i];
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}
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}
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// Print out channel measurements, clamped to a single hex digit
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i = 0;
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while ( i < num_channels )
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{
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printf("%x",min(0xf,(values[i]&0xf)));
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++i;
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}
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printf("\n");
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}
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return 0;
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}
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// vim:ai:cin:sts=2 sw=2 ft=cpp
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