多軸飛行的研究筆記: nFR24L01 研究

/**
	* Pins:
	* Hardware SPI:
	* MISO -> 12
	* MOSI -> 11
	* SCK -> 13
	*
	* Configurable:
	* CE -> 8
	* CSN -> 7
	*/

	#include <SPI.h>
	#include <Mirf.h>
	#include <nRF24L01.h>
	#include <MirfHardwareSpiDriver.h>

	void setup() {
	Serial.begin(9600);
	Serial.println( "Starting wireless..." );

	// Setup
	Mirf.spi = &MirfHardwareSpi;
	Mirf.init();
	Mirf.setRADDR((byte *)"clie1");
	Mirf.payload = sizeof(unsigned long);
	Mirf.config();

	// Read and print RF_SETUP
	byte rf_setup = 0;
	Mirf.readRegister( RF_SETUP, &rf_setup, sizeof(rf_setup) );
	Serial.print( "rf_setup = " );
	Serial.println( rf_setup, BIN );

	Serial.println( "Wireless initialized!" );
	}

	void loop() {}

example 2: tx example

/**
	* A Mirf example to test the latency between two Ardunio.
	*
	* Pins:
	* Hardware SPI:
	* MISO -> 12
	* MOSI -> 11
	* SCK -> 13
	*
	* Configurable:
	* CE -> 8
	* CSN -> 7
	*
	* Note: To see best case latency comment out all Serial.println
	* statements not displaying the result and load
	* 'ping_server_interupt' on the server.
	*/

	#include <SPI.h>
	#include <Mirf.h>
	#include <nRF24L01.h>
	#include <MirfHardwareSpiDriver.h>

	void setup(){
	Serial.begin(9600);
	/*
	* Setup pins / SPI.
	*/

	/* To change CE / CSN Pins:
	*
	* Mirf.csnPin = 9;
	* Mirf.cePin = 7;
	*/
	/*
	Mirf.cePin = 7;
	Mirf.csnPin = 8;
	*/
	Mirf.spi = &MirfHardwareSpi;
	Mirf.init();

	/*
	* Configure reciving address.
	*/

	Mirf.setRADDR((byte *)"clie1");

	/*
	* Set the payload length to sizeof(unsigned long) the
	* return type of millis().
	*
	* NB: payload on client and server must be the same.
	*/

	Mirf.payload = sizeof(unsigned long);

	/*
	* Write channel and payload config then power up reciver.
	*/

	/*
	* To change channel:
	*
	* Mirf.channel = 10;
	*
	* NB: Make sure channel is legal in your area.
	*/

	Mirf.config();

	Serial.println("Beginning ... ");
	}

	void loop(){
	unsigned long time = millis();

	Mirf.setTADDR((byte *)"serv1");

	Mirf.send((byte *)&time);

	while(Mirf.isSending()){
	}
	Serial.println("Finished sending");
	delay(10);
	while(!Mirf.dataReady()){
	//Serial.println("Waiting");
	if ( ( millis() - time ) > 1000 ) {
	Serial.println("Timeout on response from server!");
	return;
	}
	}

	Mirf.getData((byte *) &time);

	Serial.print("Ping: ");
	Serial.println((millis() - time));

	delay(1000);
	}

another arduino run

/**
	* An Mirf example which copies back the data it recives.
	* While wating the arduino goes to sleep and will be woken up
	* by the interupt pin of the mirf.
	*
	* Warning: Due to the sleep mode the Serial output donsn't work.
	*
	* Pins:
	* Hardware SPI:
	* MISO -> 12
	* MOSI -> 11
	* SCK -> 13
	*
	* Configurable:
	* CE -> 8
	* CSN -> 7
	*/

	#include <SPI.h>
	#include <Mirf.h>
	#include <nRF24L01.h>
	#include <MirfHardwareSpiDriver.h>
	#include <avr/sleep.h>

	void wakeupFunction(){
	}

	void toSleep(){
	attachInterrupt(0,wakeupFunction,LOW);
	sleep_mode();
	detachInterrupt(0);
	}

	void setup(){
	Serial.begin(9600);

	/*
	* Set the SPI Driver.
	*/

	Mirf.spi = &MirfHardwareSpi;

	/*
	* Setup pins / SPI.
	*/

	Mirf.init();

	/*
	* Configure reciving address.
	*/

	Mirf.setRADDR((byte *)"serv1");

	/*
	* Set the payload length to sizeof(unsigned long) the
	* return type of millis().
	*
	* NB: payload on client and server must be the same.
	*/

	Mirf.payload = sizeof(unsigned long);

	/*
	* Write channel and payload config then power up reciver.
	*/

	Mirf.config();

	/*
	* Configure seep mode to save power.
	*/

	set_sleep_mode(SLEEP_MODE_PWR_DOWN);
	sleep_enable();

	Serial.println("Listening...");
	}

	void loop(){
	/*
	* A buffer to store the data.
	*/

	byte data[Mirf.payload];

	/*
	* If a packet has been recived.
	*/
	if(!Mirf.isSending() && Mirf.dataReady()){

	/*
	* Get load the packet into the buffer.
	*/

	Mirf.getData(data);

	/*
	* Set the send address.
	*/

	Mirf.setTADDR((byte *)"clie1");

	/*
	* Send the data back to the client.
	*/

	Mirf.send(data);
	}else{
	/* No data - night night. */
	toSleep();
	}
	}