Diff: Radio.cpp

Revision:

4:560d24c0e5f8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Radio.cpp	Thu Apr 19 15:35:29 2018 +0000
@@ -0,0 +1,123 @@
+#include "Radio.h"
+#include "mbed.h"
+#include "Rangefinder.h"
+
+RF24 radio(PTD2, PTD3, PTD1,  PTC12 ,PTC13);
+const char max_len = 30;
+
+MBED_PACKED(struct) BasicFrame { // MBED_PACKED is required to avoid unpredictable data sizes due to Padding.
+    char start_of_frame_1;
+    char start_of_frame_2;
+    char identifier;
+} BasicFrame1;
+
+MBED_PACKED(struct) MatrixFrame { // MBED_PACKED is required to avoid unpredictable data sizes due to Padding.
+    char start_of_frame_1;
+    char start_of_frame_2;
+    char identifier;
+    char dim1;
+    char dim2;
+} MatrixFrame1;
+
+/**
+ * Initializes nrf24l01 module, return value 1 if module is working correcty and 0 if it's not.
+ *
+ ** @param channel - Which RF channel to comunicate on, 0-125
+ *
+ * \warning Channel on Robot and Board has to be the same.
+ */
+bool init_nRF(int channel)
+{
+    bool result;
+
+    result = radio.begin();
+    //pc.printf( "Initialation nrf24l01=%d\r\n",  result ); // 1-working,0-not working
+    radio.setDataRate(RF24_250KBPS);
+    radio.setCRCLength(RF24_CRC_16);
+    radio.enableDynamicPayloads();
+    radio.setChannel(channel);
+    radio.setAutoAck(true);
+
+    radio.openWritingPipe(0x314e6f6465);
+    radio.openReadingPipe(1,0x324e6f6465);
+
+    radio.startListening();
+
+    return result;
+}
+
+void radio_send_string(char *str)
+{
+    char *ptr;
+
+    ptr = str;
+
+    while(strlen(ptr) > max_len) {
+        radio.stopListening();
+        radio.write(ptr, max_len);
+        radio.startListening();
+        ptr += max_len;
+    }
+
+    radio.stopListening();
+    radio.write(ptr, strlen(ptr));
+    radio.startListening();
+}
+
+void send_float_matrix(float *matrix, unsigned num_lines, unsigned num_columns)
+{
+    int num_bytes_to_send;
+    uint8_t *ptr;
+
+    // Send frame structure.
+    MatrixFrame1.start_of_frame_1 = 0x06;
+    MatrixFrame1.start_of_frame_2 = 0x85;
+    MatrixFrame1.identifier = 'F';
+    MatrixFrame1.dim1 = num_lines;
+    MatrixFrame1.dim2 = num_columns;
+
+    radio.stopListening();
+    radio.write(&MatrixFrame1, sizeof(MatrixFrame1));
+
+    // Send matrix.
+    ptr = (uint8_t*)matrix;
+    num_bytes_to_send = num_lines * num_columns * sizeof(float);
+
+    while(num_bytes_to_send > max_len) {
+        radio.write(ptr, max_len); // It would be helpful a blocking function. write() should block, but it appears been modified.
+        ptr += max_len;
+        num_bytes_to_send -= max_len;
+    }
+
+    radio.write(ptr, num_bytes_to_send);
+    radio.startListening();
+}
+
+void send_rangefinder()
+{
+    BasicFrame1.start_of_frame_1 = 0x06;
+    BasicFrame1.start_of_frame_2 = 0x85;
+    BasicFrame1.identifier = 'R';
+
+    radio.stopListening();
+    radio.write(&BasicFrame1, sizeof(BasicFrame1));
+    radio.write(rgfMeasurements, sizeof(rgfMeasurements));
+    radio.startListening();
+}
+
+void test_send_matrix()
+{
+    const int lines_num = 15, col_num = 15;
+    float testmatrix[lines_num][col_num];
+    int i, j;
+    float previous = 0.1;
+
+    for(i=0; i<lines_num; i++) {
+        for(j=0; j<col_num; j++) {
+            testmatrix[i][j] = previous;
+            previous += 0.1;
+        }
+    }
+
+    send_float_matrix(&testmatrix[0][0], lines_num, col_num);
+}
\ No newline at end of file