Polybot Grenoble / Mbed 2 deprecated RF24Network_Send_FN

FN

Dependencies:   mbed RF24Network RF24

main.cpp@7:1b47a2b6329a, 2019-03-28 (annotated)

Committer:
guillaume6544
Date:
Thu Mar 28 10:32:50 2019 +0000
Revision:
7:1b47a2b6329a
Parent:
6:d46e3c0c8d35
Child:
8:b0775f476afc
3 distances;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:3982c0e9eda1 1 #include "mbed.h"
akashvibhute 0:3982c0e9eda1 2 #include <RF24Network.h>
akashvibhute 2:926b93a68399 3 #include <RF24.h>
guillaume6544 6:d46e3c0c8d35 4
akashvibhute 0:3982c0e9eda1 5 Serial pc(USBTX, USBRX);
guillaume6544 6:d46e3c0c8d35 6 InterruptIn button(D8);
guillaume6544 6:d46e3c0c8d35 7 AnalogIn LM35(A2);
guillaume6544 6:d46e3c0c8d35 8
akashvibhute 0:3982c0e9eda1 9
wesleytiem 4:f70f3b565af0 10 RF24 radio(SPI_MOSI, SPI_MISO, SPI_SCK, D9, SPI_CS );
guillaume6544 5:bfef4ea383be 11 Timer timer;
guillaume6544 5:bfef4ea383be 12 unsigned int temps;
guillaume6544 5:bfef4ea383be 13 int a=0;
guillaume6544 6:d46e3c0c8d35 14 float temperature;
guillaume6544 6:d46e3c0c8d35 15 float vitesse;
guillaume6544 6:d46e3c0c8d35 16
guillaume6544 7:1b47a2b6329a 17 const int n = 3;
guillaume6544 7:1b47a2b6329a 18 int addr[n] = {01,02,03};
guillaume6544 6:d46e3c0c8d35 19 float d[n];
guillaume6544 6:d46e3c0c8d35 20 int indice=0;
guillaume6544 5:bfef4ea383be 21
guillaume6544 5:bfef4ea383be 22 void pressed()
guillaume6544 5:bfef4ea383be 23 {
guillaume6544 5:bfef4ea383be 24 button.disable_irq();
guillaume6544 5:bfef4ea383be 25 timer.stop();
guillaume6544 5:bfef4ea383be 26 temps = timer.read_us();
guillaume6544 6:d46e3c0c8d35 27 d[indice-1]=(temps-70.0)*(vitesse/1000000.0);
guillaume6544 6:d46e3c0c8d35 28 //printf("distance=%f\r\n",(temps-70.0)*(vitesse/1000000.0);
guillaume6544 6:d46e3c0c8d35 29 //wait_ms(3);
guillaume6544 5:bfef4ea383be 30 timer.reset();
guillaume6544 6:d46e3c0c8d35 31 //a=1;
guillaume6544 5:bfef4ea383be 32 }
guillaume6544 6:d46e3c0c8d35 33
akashvibhute 0:3982c0e9eda1 34 // Network uses that radio
akashvibhute 0:3982c0e9eda1 35 RF24Network network(radio);
guillaume6544 6:d46e3c0c8d35 36
akashvibhute 0:3982c0e9eda1 37 // Address of our node
guillaume6544 7:1b47a2b6329a 38 const uint16_t this_node = 00;
guillaume6544 6:d46e3c0c8d35 39
akashvibhute 0:3982c0e9eda1 40 // Address of the other node
guillaume6544 6:d46e3c0c8d35 41 const uint16_t other_node1 = 00;
guillaume6544 6:d46e3c0c8d35 42 const uint16_t other_node2 = 001;
guillaume6544 6:d46e3c0c8d35 43
akashvibhute 2:926b93a68399 44 // How often to send payload packet to the other unit
guillaume6544 7:1b47a2b6329a 45 const unsigned long interval = 1000; //ms
guillaume6544 6:d46e3c0c8d35 46
akashvibhute 0:3982c0e9eda1 47 // When did we last send?
akashvibhute 0:3982c0e9eda1 48 unsigned long last_sent;
akashvibhute 1:5be48a9550c3 49 Timer t;
guillaume6544 6:d46e3c0c8d35 50
akashvibhute 0:3982c0e9eda1 51 // How many have we sent already
akashvibhute 0:3982c0e9eda1 52 unsigned long packets_sent;
akashvibhute 1:5be48a9550c3 53 Timer t_packet;
guillaume6544 6:d46e3c0c8d35 54
akashvibhute 0:3982c0e9eda1 55 // Structure of our payload
akashvibhute 2:926b93a68399 56 struct payload_t
akashvibhute 0:3982c0e9eda1 57 {
akashvibhute 2:926b93a68399 58 unsigned long ms;
akashvibhute 2:926b93a68399 59 unsigned long counter;
akashvibhute 0:3982c0e9eda1 60 };
guillaume6544 6:d46e3c0c8d35 61
guillaume6544 6:d46e3c0c8d35 62
guillaume6544 6:d46e3c0c8d35 63 void emmeteur(){
akashvibhute 0:3982c0e9eda1 64
guillaume6544 6:d46e3c0c8d35 65 pc.printf("Sending : %d...",indice+1);
guillaume6544 6:d46e3c0c8d35 66 payload_t payload_tx;
guillaume6544 6:d46e3c0c8d35 67 payload_tx.ms = t_packet.read_ms();
guillaume6544 6:d46e3c0c8d35 68 payload_tx.counter = packets_sent++;
guillaume6544 6:d46e3c0c8d35 69
guillaume6544 6:d46e3c0c8d35 70 RF24NetworkHeader header_tx(/*to node*/ addr[indice]);
guillaume6544 6:d46e3c0c8d35 71 bool ok = network.write(header_tx,&payload_tx,sizeof(payload_tx));
guillaume6544 6:d46e3c0c8d35 72 if (ok){
guillaume6544 6:d46e3c0c8d35 73 timer.start();
guillaume6544 6:d46e3c0c8d35 74 pc.printf("ok : %d\r\n",indice+1);
guillaume6544 6:d46e3c0c8d35 75 // a=1;
guillaume6544 6:d46e3c0c8d35 76 }
guillaume6544 6:d46e3c0c8d35 77 else
guillaume6544 6:d46e3c0c8d35 78 pc.printf("failed : %d.\r\n",indice+1);
guillaume6544 6:d46e3c0c8d35 79
guillaume6544 6:d46e3c0c8d35 80
guillaume6544 6:d46e3c0c8d35 81 }
guillaume6544 6:d46e3c0c8d35 82 void emmeteur2(){
akashvibhute 0:3982c0e9eda1 83
guillaume6544 6:d46e3c0c8d35 84 pc.printf("Sending : 2...");
guillaume6544 6:d46e3c0c8d35 85 payload_t payload_tx;
guillaume6544 6:d46e3c0c8d35 86 payload_tx.ms = t_packet.read_ms();
guillaume6544 6:d46e3c0c8d35 87 payload_tx.counter = packets_sent++;
guillaume6544 6:d46e3c0c8d35 88
guillaume6544 6:d46e3c0c8d35 89 RF24NetworkHeader header_tx(/*to node*/ other_node2);
guillaume6544 6:d46e3c0c8d35 90 bool ok = network.write(header_tx,&payload_tx,sizeof(payload_tx));
guillaume6544 6:d46e3c0c8d35 91 if (ok){
guillaume6544 6:d46e3c0c8d35 92 timer.start();
guillaume6544 6:d46e3c0c8d35 93 pc.printf("ok : 2.\r\n");
guillaume6544 6:d46e3c0c8d35 94 // a=1;
guillaume6544 6:d46e3c0c8d35 95 }
guillaume6544 6:d46e3c0c8d35 96 else
guillaume6544 6:d46e3c0c8d35 97 pc.printf("failed : 2.\r\n");
guillaume6544 6:d46e3c0c8d35 98
guillaume6544 6:d46e3c0c8d35 99
guillaume6544 6:d46e3c0c8d35 100 }
guillaume6544 6:d46e3c0c8d35 101
guillaume6544 6:d46e3c0c8d35 102
guillaume6544 6:d46e3c0c8d35 103
guillaume6544 6:d46e3c0c8d35 104
akashvibhute 2:926b93a68399 105 int main()
akashvibhute 0:3982c0e9eda1 106 {
guillaume6544 5:bfef4ea383be 107 // double cpt=0;
guillaume6544 6:d46e3c0c8d35 108 float d1,d2;
wesleytiem 4:f70f3b565af0 109 pc.baud(115200);
akashvibhute 0:3982c0e9eda1 110 wait_ms(1000);
guillaume6544 6:d46e3c0c8d35 111
guillaume6544 6:d46e3c0c8d35 112 pc.printf("mBed RF24Network node: Tx\r\n");
akashvibhute 0:3982c0e9eda1 113 radio.begin();
akashvibhute 0:3982c0e9eda1 114 network.begin(/*channel*/ 90, /*node address*/ this_node);
akashvibhute 0:3982c0e9eda1 115 wait_ms(2000);
akashvibhute 1:5be48a9550c3 116 t.start();
akashvibhute 1:5be48a9550c3 117 t_packet.start();
guillaume6544 7:1b47a2b6329a 118 // temperature = 25;
guillaume6544 7:1b47a2b6329a 119 // for (int i=0;i<10;i++) {
guillaume6544 7:1b47a2b6329a 120 // temperature += LM35.read();
guillaume6544 7:1b47a2b6329a 121 // wait_ms(10);
guillaume6544 7:1b47a2b6329a 122 // }
guillaume6544 5:bfef4ea383be 123
guillaume6544 5:bfef4ea383be 124
guillaume6544 6:d46e3c0c8d35 125
guillaume6544 6:d46e3c0c8d35 126
guillaume6544 7:1b47a2b6329a 127 // temperature = temperature*34;
guillaume6544 6:d46e3c0c8d35 128
guillaume6544 7:1b47a2b6329a 129 vitesse = 342.0;//331.5 + 0.595*temperature;
guillaume6544 6:d46e3c0c8d35 130
guillaume6544 5:bfef4ea383be 131 button.rise(&pressed);
akashvibhute 2:926b93a68399 132 while(1)
akashvibhute 0:3982c0e9eda1 133 {
guillaume6544 5:bfef4ea383be 134
akashvibhute 0:3982c0e9eda1 135 // Pump the network regularly
akashvibhute 0:3982c0e9eda1 136 network.update();
guillaume6544 5:bfef4ea383be 137 //if(a==0){
akashvibhute 1:5be48a9550c3 138 /* If it's time to send a message, send it! */
akashvibhute 1:5be48a9550c3 139 unsigned long now = t.read_ms();
akashvibhute 2:926b93a68399 140 if ( now >= interval )
akashvibhute 1:5be48a9550c3 141 {
guillaume6544 7:1b47a2b6329a 142 if(indice > 2) {
guillaume6544 6:d46e3c0c8d35 143 for(int j=0; j<n; j++)
guillaume6544 6:d46e3c0c8d35 144 printf("distance %d = %f\r\n",j+1,d[j]);
guillaume6544 6:d46e3c0c8d35 145 indice = 0;
guillaume6544 6:d46e3c0c8d35 146 }
akashvibhute 1:5be48a9550c3 147 t.reset();
guillaume6544 5:bfef4ea383be 148
guillaume6544 5:bfef4ea383be 149 button.enable_irq();
guillaume6544 6:d46e3c0c8d35 150 emmeteur();
guillaume6544 6:d46e3c0c8d35 151 button.enable_irq();
akashvibhute 2:926b93a68399 152
guillaume6544 6:d46e3c0c8d35 153 indice++;
akashvibhute 2:926b93a68399 154 }
guillaume6544 5:bfef4ea383be 155
guillaume6544 5:bfef4ea383be 156
guillaume6544 5:bfef4ea383be 157 //}
guillaume6544 5:bfef4ea383be 158
guillaume6544 5:bfef4ea383be 159
guillaume6544 5:bfef4ea383be 160
guillaume6544 5:bfef4ea383be 161
guillaume6544 5:bfef4ea383be 162
guillaume6544 6:d46e3c0c8d35 163
guillaume6544 6:d46e3c0c8d35 164
akashvibhute 0:3982c0e9eda1 165 }
guillaume6544 6:d46e3c0c8d35 166
akashvibhute 0:3982c0e9eda1 167 }