drohne.ino

/*
* Getting Started example sketch for nRF24L01+ radios
* This is a very basic example of how to send data from one node to another
* Updated: Dec 2014 by TMRh20
*/
#include <SPI.h>
#include <RF24.h>
/****************** User Config ***************************/
/***      Set this radio as radio number 0 or 1         ***/
bool radioNumber = 0;
/* Hardware configuration: Set up nRF24L01 radio on SPI bus plus pins 7 & 8 */
RF24 radio(9,10);
/**********************************************************/
byte addresses[][6] = {"1Node","2Node"};
// Used to control whether this node is sending or receiving
bool role = 0;
void setup() {
    Serial.begin(115200);
    Serial.println(F("RF24/examples/GettingStarted"));
    Serial.println(F("*** PRESS 'T' to begin transmitting to the other node"));
    radio.begin();
    // Set the PA Level low to prevent power supply related issues since this is a
    // getting_started sketch, and the likelihood of close proximity of the devices. RF24_PA_MAX is default.
    radio.setPALevel(RF24_PA_LOW);
    // Open a writing and reading pipe on each radio, with opposite addresses
    if(radioNumber){
        radio.openWritingPipe(addresses[1]);
        radio.openReadingPipe(1,addresses[0]);
        }else{
        radio.openWritingPipe(addresses[0]);
        radio.openReadingPipe(1,addresses[1]);
    }
    // Start the radio listening for data
    radio.startListening();
}
void loop() {
    /****************** Ping Out Role ***************************/
    if (role == 1)  {
        radio.stopListening();                                    // First, stop listening so we can talk.
        Serial.println(F("Now sending"));
        unsigned long start_time = micros();                             // Take the time, and send it.  This will block until complete
        if (!radio.write( &start_time, sizeof(unsigned long) )){
            Serial.println(F("failed"));
        }
        radio.startListening();                                    // Now, continue listening
        unsigned long started_waiting_at = micros();               // Set up a timeout period, get the current microseconds
        boolean timeout = false;                                   // Set up a variable to indicate if a response was received or not
        while ( ! radio.available() ){                             // While nothing is received
            if (micros() - started_waiting_at > 200000 ){            // If waited longer than 200ms, indicate timeout and exit while loop
                timeout = true;
                break;
            }
        }
        if ( timeout ){                                             // Describe the results
            Serial.println(F("Failed, response timed out."));
            }else{
            unsigned long got_time;                                 // Grab the response, compare, and send to debugging spew
            radio.read( &got_time, sizeof(unsigned long) );
            unsigned long end_time = micros();
            // Spew it
            Serial.print(F("Sent "));
            Serial.print(start_time);
            Serial.print(F(", Got response "));
            Serial.print(got_time);
            Serial.print(F(", Round-trip delay "));
            Serial.print(end_time-start_time);
            Serial.println(F(" microseconds"));
        }
        // Try again 1s later
        delay(1000);
    }
    /****************** Pong Back Role ***************************/
    if ( role == 0 )
    {
        unsigned long got_time;
        if( radio.available()){
            // Variable for the received timestamp
            while (radio.available()) {                                   // While there is data ready
                radio.read( &got_time, sizeof(unsigned long) );             // Get the payload
            }
            radio.stopListening();                                        // First, stop listening so we can talk
            radio.write( &got_time, sizeof(unsigned long) );              // Send the final one back.
            radio.startListening();                                       // Now, resume listening so we catch the next packets.
            Serial.print(F("Sent response "));
            Serial.println(got_time);
        }
    }
    /****************** Change Roles via Serial Commands ***************************/
    if ( Serial.available() )
    {
        char c = toupper(Serial.read());
        if ( c == 'T' && role == 0 ){
            Serial.println(F("*** CHANGING TO TRANSMIT ROLE -- PRESS 'R' TO SWITCH BACK"));
            role = 1;                  // Become the primary transmitter (ping out)
        }else
        if ( c == 'R' && role == 1 ){
            Serial.println(F("*** CHANGING TO RECEIVE ROLE -- PRESS 'T' TO SWITCH BACK"));
            role = 0;                // Become the primary receiver (pong back)
            radio.startListening();
        }
    }
} // Loop