Fabio Faria / ISR_Mini-explorer_tmp

Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.

Dependencies:   RF24

Fork of ISR_Mini-explorer by ISR UC

Radio.cpp@4:560d24c0e5f8, 2018-04-19 (annotated)

Committer:
fabiofaria
Date:
Thu Apr 19 15:35:29 2018 +0000
Revision:
4:560d24c0e5f8
Initial commit.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabiofaria 4:560d24c0e5f8 1 #include "Radio.h"
fabiofaria 4:560d24c0e5f8 2 #include "mbed.h"
fabiofaria 4:560d24c0e5f8 3 #include "Rangefinder.h"
fabiofaria 4:560d24c0e5f8 4
fabiofaria 4:560d24c0e5f8 5 RF24 radio(PTD2, PTD3, PTD1, PTC12 ,PTC13);
fabiofaria 4:560d24c0e5f8 6 const char max_len = 30;
fabiofaria 4:560d24c0e5f8 7
fabiofaria 4:560d24c0e5f8 8 MBED_PACKED(struct) BasicFrame { // MBED_PACKED is required to avoid unpredictable data sizes due to Padding.
fabiofaria 4:560d24c0e5f8 9 char start_of_frame_1;
fabiofaria 4:560d24c0e5f8 10 char start_of_frame_2;
fabiofaria 4:560d24c0e5f8 11 char identifier;
fabiofaria 4:560d24c0e5f8 12 } BasicFrame1;
fabiofaria 4:560d24c0e5f8 13
fabiofaria 4:560d24c0e5f8 14 MBED_PACKED(struct) MatrixFrame { // MBED_PACKED is required to avoid unpredictable data sizes due to Padding.
fabiofaria 4:560d24c0e5f8 15 char start_of_frame_1;
fabiofaria 4:560d24c0e5f8 16 char start_of_frame_2;
fabiofaria 4:560d24c0e5f8 17 char identifier;
fabiofaria 4:560d24c0e5f8 18 char dim1;
fabiofaria 4:560d24c0e5f8 19 char dim2;
fabiofaria 4:560d24c0e5f8 20 } MatrixFrame1;
fabiofaria 4:560d24c0e5f8 21
fabiofaria 4:560d24c0e5f8 22 /**
fabiofaria 4:560d24c0e5f8 23 * Initializes nrf24l01 module, return value 1 if module is working correcty and 0 if it's not.
fabiofaria 4:560d24c0e5f8 24 *
fabiofaria 4:560d24c0e5f8 25 ** @param channel - Which RF channel to comunicate on, 0-125
fabiofaria 4:560d24c0e5f8 26 *
fabiofaria 4:560d24c0e5f8 27 * \warning Channel on Robot and Board has to be the same.
fabiofaria 4:560d24c0e5f8 28 */
fabiofaria 4:560d24c0e5f8 29 bool init_nRF(int channel)
fabiofaria 4:560d24c0e5f8 30 {
fabiofaria 4:560d24c0e5f8 31 bool result;
fabiofaria 4:560d24c0e5f8 32
fabiofaria 4:560d24c0e5f8 33 result = radio.begin();
fabiofaria 4:560d24c0e5f8 34 //pc.printf( "Initialation nrf24l01=%d\r\n", result ); // 1-working,0-not working
fabiofaria 4:560d24c0e5f8 35 radio.setDataRate(RF24_250KBPS);
fabiofaria 4:560d24c0e5f8 36 radio.setCRCLength(RF24_CRC_16);
fabiofaria 4:560d24c0e5f8 37 radio.enableDynamicPayloads();
fabiofaria 4:560d24c0e5f8 38 radio.setChannel(channel);
fabiofaria 4:560d24c0e5f8 39 radio.setAutoAck(true);
fabiofaria 4:560d24c0e5f8 40
fabiofaria 4:560d24c0e5f8 41 radio.openWritingPipe(0x314e6f6465);
fabiofaria 4:560d24c0e5f8 42 radio.openReadingPipe(1,0x324e6f6465);
fabiofaria 4:560d24c0e5f8 43
fabiofaria 4:560d24c0e5f8 44 radio.startListening();
fabiofaria 4:560d24c0e5f8 45
fabiofaria 4:560d24c0e5f8 46 return result;
fabiofaria 4:560d24c0e5f8 47 }
fabiofaria 4:560d24c0e5f8 48
fabiofaria 4:560d24c0e5f8 49 void radio_send_string(char *str)
fabiofaria 4:560d24c0e5f8 50 {
fabiofaria 4:560d24c0e5f8 51 char *ptr;
fabiofaria 4:560d24c0e5f8 52
fabiofaria 4:560d24c0e5f8 53 ptr = str;
fabiofaria 4:560d24c0e5f8 54
fabiofaria 4:560d24c0e5f8 55 while(strlen(ptr) > max_len) {
fabiofaria 4:560d24c0e5f8 56 radio.stopListening();
fabiofaria 4:560d24c0e5f8 57 radio.write(ptr, max_len);
fabiofaria 4:560d24c0e5f8 58 radio.startListening();
fabiofaria 4:560d24c0e5f8 59 ptr += max_len;
fabiofaria 4:560d24c0e5f8 60 }
fabiofaria 4:560d24c0e5f8 61
fabiofaria 4:560d24c0e5f8 62 radio.stopListening();
fabiofaria 4:560d24c0e5f8 63 radio.write(ptr, strlen(ptr));
fabiofaria 4:560d24c0e5f8 64 radio.startListening();
fabiofaria 4:560d24c0e5f8 65 }
fabiofaria 4:560d24c0e5f8 66
fabiofaria 4:560d24c0e5f8 67 void send_float_matrix(float *matrix, unsigned num_lines, unsigned num_columns)
fabiofaria 4:560d24c0e5f8 68 {
fabiofaria 4:560d24c0e5f8 69 int num_bytes_to_send;
fabiofaria 4:560d24c0e5f8 70 uint8_t *ptr;
fabiofaria 4:560d24c0e5f8 71
fabiofaria 4:560d24c0e5f8 72 // Send frame structure.
fabiofaria 4:560d24c0e5f8 73 MatrixFrame1.start_of_frame_1 = 0x06;
fabiofaria 4:560d24c0e5f8 74 MatrixFrame1.start_of_frame_2 = 0x85;
fabiofaria 4:560d24c0e5f8 75 MatrixFrame1.identifier = 'F';
fabiofaria 4:560d24c0e5f8 76 MatrixFrame1.dim1 = num_lines;
fabiofaria 4:560d24c0e5f8 77 MatrixFrame1.dim2 = num_columns;
fabiofaria 4:560d24c0e5f8 78
fabiofaria 4:560d24c0e5f8 79 radio.stopListening();
fabiofaria 4:560d24c0e5f8 80 radio.write(&MatrixFrame1, sizeof(MatrixFrame1));
fabiofaria 4:560d24c0e5f8 81
fabiofaria 4:560d24c0e5f8 82 // Send matrix.
fabiofaria 4:560d24c0e5f8 83 ptr = (uint8_t*)matrix;
fabiofaria 4:560d24c0e5f8 84 num_bytes_to_send = num_lines * num_columns * sizeof(float);
fabiofaria 4:560d24c0e5f8 85
fabiofaria 4:560d24c0e5f8 86 while(num_bytes_to_send > max_len) {
fabiofaria 4:560d24c0e5f8 87 radio.write(ptr, max_len); // It would be helpful a blocking function. write() should block, but it appears been modified.
fabiofaria 4:560d24c0e5f8 88 ptr += max_len;
fabiofaria 4:560d24c0e5f8 89 num_bytes_to_send -= max_len;
fabiofaria 4:560d24c0e5f8 90 }
fabiofaria 4:560d24c0e5f8 91
fabiofaria 4:560d24c0e5f8 92 radio.write(ptr, num_bytes_to_send);
fabiofaria 4:560d24c0e5f8 93 radio.startListening();
fabiofaria 4:560d24c0e5f8 94 }
fabiofaria 4:560d24c0e5f8 95
fabiofaria 4:560d24c0e5f8 96 void send_rangefinder()
fabiofaria 4:560d24c0e5f8 97 {
fabiofaria 4:560d24c0e5f8 98 BasicFrame1.start_of_frame_1 = 0x06;
fabiofaria 4:560d24c0e5f8 99 BasicFrame1.start_of_frame_2 = 0x85;
fabiofaria 4:560d24c0e5f8 100 BasicFrame1.identifier = 'R';
fabiofaria 4:560d24c0e5f8 101
fabiofaria 4:560d24c0e5f8 102 radio.stopListening();
fabiofaria 4:560d24c0e5f8 103 radio.write(&BasicFrame1, sizeof(BasicFrame1));
fabiofaria 4:560d24c0e5f8 104 radio.write(rgfMeasurements, sizeof(rgfMeasurements));
fabiofaria 4:560d24c0e5f8 105 radio.startListening();
fabiofaria 4:560d24c0e5f8 106 }
fabiofaria 4:560d24c0e5f8 107
fabiofaria 4:560d24c0e5f8 108 void test_send_matrix()
fabiofaria 4:560d24c0e5f8 109 {
fabiofaria 4:560d24c0e5f8 110 const int lines_num = 15, col_num = 15;
fabiofaria 4:560d24c0e5f8 111 float testmatrix[lines_num][col_num];
fabiofaria 4:560d24c0e5f8 112 int i, j;
fabiofaria 4:560d24c0e5f8 113 float previous = 0.1;
fabiofaria 4:560d24c0e5f8 114
fabiofaria 4:560d24c0e5f8 115 for(i=0; i<lines_num; i++) {
fabiofaria 4:560d24c0e5f8 116 for(j=0; j<col_num; j++) {
fabiofaria 4:560d24c0e5f8 117 testmatrix[i][j] = previous;
fabiofaria 4:560d24c0e5f8 118 previous += 0.1;
fabiofaria 4:560d24c0e5f8 119 }
fabiofaria 4:560d24c0e5f8 120 }
fabiofaria 4:560d24c0e5f8 121
fabiofaria 4:560d24c0e5f8 122 send_float_matrix(&testmatrix[0][0], lines_num, col_num);
fabiofaria 4:560d24c0e5f8 123 }