Danke für die Antwort,
aber sind diese Werte nicht optional?
Ich hätte eher gedacht "radio.setPayloadSize-8". Aber den habe ich auch nicht gesetzt. Aber hier mal mein Code, der funktioniert:
Sender
/*
Transmitter for Quadrocopter
based on Arduino Mini Pro (328p 5v 16MHz)
write to an 9 channel RC
*/
#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
#include "printf.h"
#define NANO328
// sets the role of this unit in hardware. Connect to GND to be the 'pong' receiver
// Leave open to be the 'ping' transmitter
#ifdef NANO328
// Nano 328
RF24 radio(9,10);
const short role_pin = 9;
#else
//MEGA2560
RF24 radio(46, 53);
const short role_pin = 41;
#endif
const uint64_t pipe = 0xE8E8F0F0E1LL;
typedef enum { role_sender = 1, role_receiver } role_e;
const char* role_friendly_name[] = { "invalid", "Sender", "Empfaenger" };
role_e role;
static uint32_t message_count = 0;
#define NUM_TXDATA 4
int tx_data[NUM_TXDATA];
const uint8_t readPin[NUM_TXDATA] = {A0, A1, A2, A3}; /// Yaw, Pitch, Roll, Throttle
//--------------------------- end of declration and initialisations--------------------------------
void setup(void)
{
pinMode(role_pin, INPUT);
digitalWrite(role_pin,HIGH);
delay(20); // Just to get a solid reading on the role pin
if ( digitalRead(role_pin) )
role = role_sender;
else
role = role_receiver;
Serial.begin(115200);
printf_begin();
printf("\n\rQuad_Transmitter/\n\r");
printf("ROLE: %s\n\r",role_friendly_name[role]);
radio.begin();
radio.enableAckPayload();
if ( role == role_sender ) {
radio.openWritingPipe(pipe);
}
else {
radio.openReadingPipe(1,pipe);
}
if ( role == role_receiver )
radio.startListening();
radio.printDetails();
attachInterrupt(1, check_radio, FALLING);
}
//--------------------------- end of setup ------------------------------------
void loop(void) {
tx_data[0] = map(analogRead(readPin[0]), 189, 898, -600, 600); ///< 1/10° to set setpoint Yaw
tx_data[1] = map(analogRead(readPin[1]), 141, 839, -600, 600); ///< Pitch
tx_data[2] = map(analogRead(readPin[2]), 141, 866, -600, 600); ///< Roll
tx_data[3] = map(analogRead(readPin[3]), 176, 872, 1000 , 2000); ///< Throttle
if (role == role_sender)
{
printf("Now sending data %i %i %i %i \n\r",tx_data[0], tx_data[1], tx_data[2], tx_data[3]);
radio.powerUp() ;
radio.startWrite( tx_data, sizeof(tx_data) );
delay(100);
}
// Receiver role: Does nothing! All the work is in IR
}
//--------------------------- end of mainloop -----------------------------------------------------
void check_radio(void) {
bool tx,fail,rx;
radio.whatHappened(tx,fail,rx);
if ( tx ) {
if ( role == role_sender )
printf("Send: OK\n\r");
if ( role == role_receiver )
printf("Ack Payload: Sent\n\r");
}
if ( fail ) {
if ( role == role_sender )
printf("Send: Failed\n\r");
if ( role == role_receiver )
printf("Ack Payload: Failed\n\r");
}
if ( ( tx || fail ) && ( role == role_sender ) )
radio.powerDown();
if ( rx ) {
if ( role == role_sender ) {
radio.read(&message_count,sizeof(message_count));
printf("Ack: %lu\n\r",message_count);
}
if ( role == role_receiver ) {
radio.read( tx_data, sizeof(tx_data) );
printf("Got payload %i %i %i %i n\r",tx_data[0], tx_data[1], tx_data[2], tx_data[3]);
radio.writeAckPayload( 1, &message_count, sizeof(message_count) );
++message_count;
}
}
}
//--------------------------- end of check_radio --------------------------------------------------
/*-------------------------------- end of Quad_Transmitter --------------------------------------*/
Empfänger
//
//
//
#include "RC.h"
#include "RF24.h"
#ifdef NANO328
// Nano 328
RF24 radio(9,10);
const short role_pin = 9;
#else
//MEGA2560
RF24 radio(46, 53);
#endif
role_e role;
//--------------------------- end of initialation ans declaration ---------------------------------
void RCClass::init() {
short role_pin = ROLE_PIN;
pinMode(role_pin, INPUT);
digitalWrite(role_pin,HIGH);
delay(20); // Just to get a solid reading on the role pin
uint64_t pipe = PIPE;
const char* role_friendly_name[] = { "invalid", "Sender", "Empfaenger" };
int tx_data[NUM_TXDATA];
const uint8_t readPin[] = {A0, A1, A2, A3}; /// Yaw, Pitch, Roll, Throttle
static uint32_t message_count = 0;
if ( digitalRead(role_pin) )
role = role_transmitter;
else
role = role_receiver;
printf("\n\rQuad_Receiver /\n\r");
printf("ROLE: %s\n\r",role_friendly_name[role]);
radio.begin();
radio.enableAckPayload();
if ( role == role_transmitter )
radio.openWritingPipe(pipe);
else
radio.openReadingPipe(1,pipe);
if ( role == role_receiver )
radio.startListening();
radio.printDetails();
}
//--------------------------- end of init ---------------------------------------------------------
void RCClass::check_radio(void) { /// Wird vom Interrupt aus Startprogramm aufgerufen
bool tx,fail,rx;
radio.whatHappened(tx,fail,rx);
if ( tx ) {
if ( role == role_transmitter )
printf("Send: OK\n\r");
if ( role == role_receiver )
printf("Ack Payload: Sent\n\r");
}
if ( fail ) {
if ( role == role_transmitter )
printf("Send: Failed\n\r");
if ( role == role_receiver )
printf("Ack Payload: Failed\n\r");
}
if ( ( tx || fail ) && ( role == role_transmitter ) )
radio.powerDown();
if ( rx ) {
if ( role == role_transmitter ) {
radio.read(&message_count,sizeof(message_count));
printf("Ack: %lu\n\r",message_count);
}
if ( role == role_receiver ) {
radio.read( tx_data, sizeof(tx_data) );
printf("Got payload %i %i %i %i ",tx_data[0], tx_data[1], tx_data[2], tx_data[3]);
printf(" Ack send %i \n\r",message_count);
radio.writeAckPayload( 1, &message_count, sizeof(message_count) );
++message_count;
}
}
}
//--------------------------- end of check_radio --------------------------------------------------
RCClass RC;
/*--------------------------- end of RCclass ----------------------------------------------------*/
Main Empfänger
/*
Receiver modul for Quadrocopter
based on Arduino Mini Pro (328p 5v 16MHz)
read an 9 channel RC
*/
#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
#include "printf.h"
#include "RC.h"
//-----------------------------------------------------------------------------
void read_RC(void);
//-----------------------------------------------------------------------------
void setup(void) {
Serial.begin(115200);
printf_begin();
RC.init();
attachInterrupt(1, read_RC, FALLING);
}
//--------------------------- end of setup --------------------------------------------------------
void loop(void) {
// loop is empty
}
//--------------------------- end of mainloop -----------------------------------------------------
void read_RC() {
RC.check_radio();
}
//--------------------------- end of read_RC -----------------------------------------------------
/*--------------------------- end of Quad_Receiver ----------------------------------------------*/
Ich hoffe, ich habe nicht zu viel Mühe gemacht. Ich habe hier
http://www.daedalus.ei.tum.de/index.php/de/zeppelin/blimp/gamepad-dms2-funkverbindung
folgendes gelesen :
"
Der erste Modus ist der Normale-Modus indem die Stickwerte verschickt werden, in dem Normalen-Modus werden permanent Pakete mit den zugehörigen Stickwerten verschickt. Dazu werden die Stickwerte codiert, sodass pro Stickwert 2Bytes gebraucht werden. Im gesendeten Paket stehen die Stickwerte somit vom 1. bis 8. Byte. Der 9.Byte hat den Wert Null. Im empfänger werden die Stickwerte anschließend wieder decodiert.
"
Ist das richtig, dass ich nur Byte senden kann? Kann ich mir nicht vorstellen.
Gruß Kucky
