Andriy Makukha / Mbed 2 deprecated football_project_wo_output

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Dependencies:   mbed

Fork of football_project by MZJ

Radio.cpp@62:9b34dc1b265d, 2016-01-18 (annotated)

Committer:
elmbed
Date:
Mon Jan 18 08:51:31 2016 +0000
Revision:
62:9b34dc1b265d
Parent:
52:060fdec99780
Child:
64:8886b5e4ab57
Pattern mode seems to work & more work on master/slave integration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elmbed 18:affef3a7db2a 1 #include <RFM69.h>
elmbed 18:affef3a7db2a 2 #include <SPI.h>
elmbed 23:26f27c462976 3 #include "types.h"
elmbed 23:26f27c462976 4 #include "TA.h"
elmbed 62:9b34dc1b265d 5 #include "DataStore.hh"
elmbed 18:affef3a7db2a 6
elmbed 44:4ad6133987ed 7 #define RADIO_STARTUP_ID 99
elmbed 18:affef3a7db2a 8 #define NETWORKID 101 //the same on all nodes that talk to each other
elmbed 18:affef3a7db2a 9
elmbed 18:affef3a7db2a 10 #define FREQUENCY RF69_915MHZ
elmbed 18:affef3a7db2a 11
elmbed 18:affef3a7db2a 12 //#define IS_RFM69HW //NOTE: uncomment this ONLY for RFM69HW or RFM69HCW
elmbed 18:affef3a7db2a 13 #define ENCRYPT_KEY "EncryptKey123456" // use same 16byte encryption key for all devices on net
elmbed 18:affef3a7db2a 14 #define ACK_TIME 50 // max msec for ACK wait
elmbed 18:affef3a7db2a 15 #define LED 9 // Anardino miniWireless has LEDs on D9
elmbed 18:affef3a7db2a 16 #define SERIAL_BAUD 115200
elmbed 18:affef3a7db2a 17 #define VERSION "1.0"
elmbed 18:affef3a7db2a 18
elmbed 18:affef3a7db2a 19 #define MSGBUFSIZE 64 // message buffersize, but for this demo we only use:
elmbed 18:affef3a7db2a 20 // 1-byte NODEID + 4-bytes for time + 1-byte for temp in C + 2-bytes for vcc(mV)
elmbed 18:affef3a7db2a 21
elmbed 18:affef3a7db2a 22 //RFM69::RFM69(PinName PinName mosi, PinName miso, PinName sclk,slaveSelectPin, PinName int)
elmbed 23:26f27c462976 23 RFM69 radio(P0_24,P0_23,P0_25,P0_28,P0_7);
elmbed 18:affef3a7db2a 24
elmbed 23:26f27c462976 25 static bool promiscuousMode = true; // set 'true' to sniff all packets on the same network
elmbed 44:4ad6133987ed 26 extern "C" void writeToPhone(char *format, ...);
elmbed 44:4ad6133987ed 27 extern unsigned long millis();
elmbed 44:4ad6133987ed 28
elmbed 62:9b34dc1b265d 29 extern bool is_master;
elmbed 18:affef3a7db2a 30
elmbed 44:4ad6133987ed 31 struct node_id_mapping
elmbed 44:4ad6133987ed 32 {
elmbed 44:4ad6133987ed 33 int mac;
elmbed 44:4ad6133987ed 34 int node_id;
elmbed 44:4ad6133987ed 35 };
elmbed 18:affef3a7db2a 36
elmbed 44:4ad6133987ed 37 struct extended_message
elmbed 44:4ad6133987ed 38 {
elmbed 44:4ad6133987ed 39 Message m;
elmbed 44:4ad6133987ed 40 int mac;
elmbed 44:4ad6133987ed 41 };
elmbed 23:26f27c462976 42
elmbed 44:4ad6133987ed 43 static node_id_mapping nodes[10] = {0};
elmbed 44:4ad6133987ed 44 static int node_idx = 0;
elmbed 44:4ad6133987ed 45 static int my_mac = 0;
elmbed 18:affef3a7db2a 46
elmbed 18:affef3a7db2a 47 void radio_init()
elmbed 18:affef3a7db2a 48 {
elmbed 62:9b34dc1b265d 49 radio.initialize(FREQUENCY, datastore_node_id(), NETWORKID);
elmbed 23:26f27c462976 50 radio.encrypt(0);
elmbed 23:26f27c462976 51 radio.promiscuous(promiscuousMode);
elmbed 23:26f27c462976 52 }
elmbed 23:26f27c462976 53
elmbed 44:4ad6133987ed 54 static int get_node_id(int mac)
elmbed 44:4ad6133987ed 55 {
elmbed 44:4ad6133987ed 56 for (int i = 0; i < node_idx; ++i)
elmbed 44:4ad6133987ed 57 {
elmbed 44:4ad6133987ed 58 if (nodes[i].mac == mac)
elmbed 44:4ad6133987ed 59 {
elmbed 44:4ad6133987ed 60 return nodes[i].node_id;
elmbed 44:4ad6133987ed 61 }
elmbed 44:4ad6133987ed 62 }
elmbed 44:4ad6133987ed 63
elmbed 44:4ad6133987ed 64 return 0;
elmbed 44:4ad6133987ed 65 }
elmbed 28:8e74ddc4f70f 66
elmbed 44:4ad6133987ed 67 static void slave_process(extended_message *em)
elmbed 44:4ad6133987ed 68 {
elmbed 44:4ad6133987ed 69 if (em->m.command == 'R')
elmbed 44:4ad6133987ed 70 {
elmbed 44:4ad6133987ed 71 // We have been given a node id
elmbed 62:9b34dc1b265d 72 datastore_set_node_id(em->m.value);
elmbed 44:4ad6133987ed 73
elmbed 62:9b34dc1b265d 74 if( Dbg ) writeToPhone("NID: %d\r\n", datastore_node_id());
elmbed 44:4ad6133987ed 75
elmbed 44:4ad6133987ed 76 // Now reset the radio :)
elmbed 44:4ad6133987ed 77 radio_init();
elmbed 44:4ad6133987ed 78 }
elmbed 44:4ad6133987ed 79 }
elmbed 44:4ad6133987ed 80
elmbed 44:4ad6133987ed 81 static void master_process(Message *m)
elmbed 44:4ad6133987ed 82 {
elmbed 44:4ad6133987ed 83 byte payload[10] = {0};
elmbed 44:4ad6133987ed 84 int node_id = 0;
elmbed 44:4ad6133987ed 85
elmbed 44:4ad6133987ed 86 if (m->command == 'S')
elmbed 44:4ad6133987ed 87 {
elmbed 44:4ad6133987ed 88 // Message from a cone requesting an ID.
elmbed 44:4ad6133987ed 89 // The payload should be part of the MAC address
elmbed 44:4ad6133987ed 90 node_id = 0;
elmbed 44:4ad6133987ed 91
elmbed 44:4ad6133987ed 92 if (node_idx == 0)
elmbed 44:4ad6133987ed 93 {
elmbed 44:4ad6133987ed 94 node_id = 2;
elmbed 44:4ad6133987ed 95 }
elmbed 44:4ad6133987ed 96 else
elmbed 44:4ad6133987ed 97 {
elmbed 44:4ad6133987ed 98 node_id = nodes[node_idx-1].node_id + 1;
elmbed 44:4ad6133987ed 99 }
elmbed 44:4ad6133987ed 100
elmbed 44:4ad6133987ed 101 int node_found = get_node_id(m->value);
elmbed 44:4ad6133987ed 102
elmbed 44:4ad6133987ed 103 if (node_found == 0)
elmbed 44:4ad6133987ed 104 {
elmbed 44:4ad6133987ed 105 nodes[node_idx].node_id = node_id;
elmbed 44:4ad6133987ed 106 nodes[node_idx++].mac = m->value;
elmbed 44:4ad6133987ed 107 }
elmbed 44:4ad6133987ed 108 else
elmbed 44:4ad6133987ed 109 {
elmbed 44:4ad6133987ed 110 node_id = node_found;
elmbed 44:4ad6133987ed 111 }
elmbed 44:4ad6133987ed 112
elmbed 44:4ad6133987ed 113 // Send the cone it's ID
elmbed 44:4ad6133987ed 114 extended_message em;
elmbed 44:4ad6133987ed 115 em.m.cone = 99;
elmbed 44:4ad6133987ed 116 em.m.command = 'R';
elmbed 44:4ad6133987ed 117 em.m.value = node_id;
elmbed 44:4ad6133987ed 118 em.mac = m->value;
elmbed 44:4ad6133987ed 119
elmbed 44:4ad6133987ed 120 payload[0] = (byte)em.m.command;
elmbed 44:4ad6133987ed 121
elmbed 44:4ad6133987ed 122 payload[4] = (byte)em.m.value & 255;
elmbed 44:4ad6133987ed 123 payload[3] = (byte)(em.m.value >> 8);
elmbed 44:4ad6133987ed 124 payload[2] = (byte)(em.m.value >> 16);
elmbed 44:4ad6133987ed 125 payload[1] = (byte)(em.m.value >> 24);
elmbed 44:4ad6133987ed 126
elmbed 44:4ad6133987ed 127 payload[8] = (byte)em.mac & 255;
elmbed 44:4ad6133987ed 128 payload[7] = (byte)(em.mac >> 8);
elmbed 44:4ad6133987ed 129 payload[6] = (byte)(em.mac >> 16);
elmbed 44:4ad6133987ed 130 payload[5] = (byte)(em.mac >> 24);
elmbed 44:4ad6133987ed 131
elmbed 44:4ad6133987ed 132 radio.send(em.m.cone, payload, sizeof(payload));
elmbed 44:4ad6133987ed 133
AntonLS 52:060fdec99780 134 if( Dbg ) writeToPhone("SND: %d %d 0x%x\r\n", em.m.cone, node_id, em.mac);
elmbed 44:4ad6133987ed 135 }
elmbed 44:4ad6133987ed 136 }
elmbed 28:8e74ddc4f70f 137
elmbed 23:26f27c462976 138 void radio_send(Message *m)
elmbed 23:26f27c462976 139 {
elmbed 23:26f27c462976 140 static byte payload [6] = {0};
elmbed 23:26f27c462976 141
elmbed 23:26f27c462976 142 if (m == NULL)
elmbed 23:26f27c462976 143 {
elmbed 23:26f27c462976 144 return;
elmbed 23:26f27c462976 145 }
elmbed 23:26f27c462976 146
AntonLS 52:060fdec99780 147 //if( Dbg ) writeToPhone("SM: %c to: %d frm: %d (%d)\r\n", m->command, m->cone, NODE_ID, m->value);
AntonLS 52:060fdec99780 148
elmbed 23:26f27c462976 149 payload[0] = (byte)m->command;
elmbed 44:4ad6133987ed 150
elmbed 23:26f27c462976 151 payload[4] = (byte)m->value & 255;
elmbed 23:26f27c462976 152 payload[3] = (byte)(m->value >> 8);
elmbed 23:26f27c462976 153 payload[2] = (byte)(m->value >> 16);
elmbed 23:26f27c462976 154 payload[1] = (byte)(m->value >> 24);
elmbed 44:4ad6133987ed 155
elmbed 23:26f27c462976 156 payload[5] = (byte)'%';
elmbed 28:8e74ddc4f70f 157
elmbed 28:8e74ddc4f70f 158 radio.send(m->cone, payload, sizeof(payload));
elmbed 18:affef3a7db2a 159 }
elmbed 18:affef3a7db2a 160
elmbed 23:26f27c462976 161 bool radio_receive_complete()
elmbed 23:26f27c462976 162 {
elmbed 23:26f27c462976 163 return radio.receiveDone();
elmbed 23:26f27c462976 164 }
elmbed 23:26f27c462976 165
elmbed 23:26f27c462976 166 bool radio_receive(Message *m)
elmbed 23:26f27c462976 167 {
elmbed 44:4ad6133987ed 168 Message lm;
elmbed 44:4ad6133987ed 169 extended_message em;
elmbed 44:4ad6133987ed 170
elmbed 23:26f27c462976 171 if (m == NULL)
elmbed 23:26f27c462976 172 {
elmbed 23:26f27c462976 173 return false;
elmbed 23:26f27c462976 174 }
elmbed 23:26f27c462976 175
elmbed 23:26f27c462976 176 if (radio.receiveDone())
elmbed 44:4ad6133987ed 177 {
elmbed 23:26f27c462976 178 if (radio.DATALEN < 6)
elmbed 23:26f27c462976 179 {
elmbed 23:26f27c462976 180 return false;
elmbed 23:26f27c462976 181 }
elmbed 23:26f27c462976 182
elmbed 44:4ad6133987ed 183 lm.cone = radio.SENDERID;
elmbed 44:4ad6133987ed 184 lm.command = radio.DATA[0];
elmbed 44:4ad6133987ed 185
elmbed 44:4ad6133987ed 186 lm.value = ((int)radio.DATA[1] << 24);
elmbed 44:4ad6133987ed 187 lm.value |= ((int)radio.DATA[2] << 16);
elmbed 44:4ad6133987ed 188 lm.value |= (((int)radio.DATA[3]) << 8);
elmbed 44:4ad6133987ed 189 lm.value |= (radio.DATA[4]);
elmbed 44:4ad6133987ed 190
elmbed 44:4ad6133987ed 191 if (is_master && lm.command == 'S')
elmbed 44:4ad6133987ed 192 {
elmbed 44:4ad6133987ed 193 // Don't pass on radio startup messages
elmbed 44:4ad6133987ed 194 master_process(&lm);
elmbed 44:4ad6133987ed 195 return false;
elmbed 44:4ad6133987ed 196 }
elmbed 44:4ad6133987ed 197 else if (!is_master && radio.TARGETID == RADIO_STARTUP_ID)
elmbed 29:ae208b014987 198 {
elmbed 44:4ad6133987ed 199
elmbed 44:4ad6133987ed 200 em.mac = (int)radio.DATA[8] & 0xff;
elmbed 44:4ad6133987ed 201 em.mac |= (int)radio.DATA[7] << 8;
elmbed 44:4ad6133987ed 202 em.mac |= (int)radio.DATA[6] << 16;
elmbed 44:4ad6133987ed 203 em.mac |= (int)radio.DATA[5] << 24;
elmbed 44:4ad6133987ed 204
AntonLS 52:060fdec99780 205 if( Dbg ) writeToPhone("RP: 0x%x\r\n", em.mac);
elmbed 44:4ad6133987ed 206
elmbed 44:4ad6133987ed 207 if (em.mac != my_mac)
elmbed 44:4ad6133987ed 208 {
AntonLS 52:060fdec99780 209 if( Dbg ) writeToPhone("DM 0x%x\r\n", em.mac);
elmbed 44:4ad6133987ed 210 return false; // This message was meant for someone else
elmbed 44:4ad6133987ed 211 }
elmbed 44:4ad6133987ed 212
elmbed 44:4ad6133987ed 213 memcpy(&em.m, &lm, sizeof(Message));
elmbed 44:4ad6133987ed 214 slave_process(&em);
elmbed 44:4ad6133987ed 215
elmbed 44:4ad6133987ed 216 }
elmbed 62:9b34dc1b265d 217 else if (radio.TARGETID == datastore_node_id())
elmbed 44:4ad6133987ed 218 {
elmbed 44:4ad6133987ed 219 memcpy(m, &lm, sizeof(Message));
elmbed 38:76e49d045a3b 220
AntonLS 52:060fdec99780 221 if( Dbg ) writeToPhone("GM: %d %c %d\r\n", radio.SENDERID, m->command, m->value);
AntonLS 32:64e5d7340d82 222
elmbed 29:ae208b014987 223 return true;
elmbed 29:ae208b014987 224 }
elmbed 23:26f27c462976 225 }
elmbed 23:26f27c462976 226
elmbed 23:26f27c462976 227 return false;
elmbed 23:26f27c462976 228 }
elmbed 23:26f27c462976 229
elmbed 23:26f27c462976 230 bool radio_ack_received(int cone)
elmbed 23:26f27c462976 231 {
elmbed 23:26f27c462976 232 return radio.ACKReceived(cone);
elmbed 23:26f27c462976 233 }
elmbed 23:26f27c462976 234
elmbed 44:4ad6133987ed 235 void radio_loop(int mac)
elmbed 18:affef3a7db2a 236 {
elmbed 44:4ad6133987ed 237 static unsigned long last_send = 0L;
elmbed 44:4ad6133987ed 238 unsigned long current = millis();
elmbed 44:4ad6133987ed 239 Message m;
elmbed 44:4ad6133987ed 240
elmbed 44:4ad6133987ed 241 if (my_mac == 0)
elmbed 44:4ad6133987ed 242 {
elmbed 44:4ad6133987ed 243 my_mac = mac;
elmbed 44:4ad6133987ed 244 }
elmbed 44:4ad6133987ed 245
elmbed 44:4ad6133987ed 246 if (is_master)
elmbed 44:4ad6133987ed 247 {
elmbed 44:4ad6133987ed 248 return; // Only needed for slave cones
elmbed 44:4ad6133987ed 249 }
elmbed 44:4ad6133987ed 250
elmbed 62:9b34dc1b265d 251 if (datastore_node_id() != RADIO_STARTUP_ID && current - last_send > 1000L)
elmbed 44:4ad6133987ed 252 {
elmbed 62:9b34dc1b265d 253 if( Dbg ) writeToPhone("NID: %d\r\n", datastore_node_id());
elmbed 44:4ad6133987ed 254 last_send = current;
elmbed 44:4ad6133987ed 255 }
elmbed 44:4ad6133987ed 256
elmbed 44:4ad6133987ed 257 // Send out an i'm here message
elmbed 62:9b34dc1b265d 258 if (datastore_node_id() != RADIO_STARTUP_ID || current - last_send < 1000L)
elmbed 44:4ad6133987ed 259 {
elmbed 44:4ad6133987ed 260 return;
elmbed 44:4ad6133987ed 261 }
elmbed 44:4ad6133987ed 262
elmbed 44:4ad6133987ed 263 m.command = 'S';
elmbed 44:4ad6133987ed 264 m.cone = 1;
elmbed 44:4ad6133987ed 265 m.value = my_mac;
elmbed 44:4ad6133987ed 266
AntonLS 52:060fdec99780 267 if( Dbg ) writeToPhone("SNM\r\n");
elmbed 44:4ad6133987ed 268
elmbed 44:4ad6133987ed 269 last_send = current;
elmbed 44:4ad6133987ed 270
elmbed 44:4ad6133987ed 271 radio_send(&m);
elmbed 18:affef3a7db2a 272 }
elmbed 23:26f27c462976 273