def slave():
csn = Pin(cfg['csn'], mode=Pin.OUT, value=1)
ce = Pin(cfg['ce'], mode=Pin.OUT, value=0)
if cfg['spi'] == -1:
spi = SPI(-1,
sck=Pin(cfg['sck']),
mosi=Pin(cfg['mosi']),
miso=Pin(cfg['miso']))
nrf = NRF24L01(spi, csn, ce, payload_size=32, channel=80)
else:
nrf = NRF24L01(SPI(cfg['spi']), csn, ce, payload_size=32, channel=80)
nrf.open_tx_pipe(pipes[1])
nrf.open_rx_pipe(1, pipes[0])
nrf.start_listening()
print('NRF24L01 slave mode, waiting for packets... (ctrl-C to stop)')
while True:
global printcount
global foot_l
global foot_lcount
global count_udp
if nrf.any():
while nrf.any():
buf = nrf.recv()
lorr, datasend, count = struct.unpack('iii', buf)
if lorr == 1: ##left is 1
foot_l[count] = datasend
foot_lcount[count] += 1
printcount = (printcount + 1) % 16
# print("data:",datasend,"count:",printcount)
utime.sleep_ms(_RX_POLL_DELAY)
nrf.stop_listening()
if printcount == 0:
print('ready to send to server')
foot_l = foot_l[1:] + [foot_l[0]]
dictsend = {'sign': 'l', 'data': foot_l}
sent = json.dumps(dictsend)
try:
# slaveserver.sendto(sent.encode('utf-8'),(addr,port))
#count_udp += 1
print('start send')
r = urequests.post('http://184.72.70.209:5000/leftdata',
data=sent,
headers=iot_headers)
print('sent')
# count_udp+=1
except:
print('send failed')
# count_udp += 1
utime.sleep(0.01)
nrf.start_listening()
def master():
csn = Pin(cfg['csn'], mode=Pin.OUT, value=1)
ce = Pin(cfg['ce'], mode=Pin.OUT, value=0)
if cfg['spi'] == -1:
spi = SPI(-1, sck=Pin(cfg['sck']), mosi=Pin(cfg['mosi']), miso=Pin(cfg['miso']))
nrf = NRF24L01(spi, csn, ce, payload_size=8)
else:
nrf = NRF24L01(SPI(cfg['spi']), csn, ce, payload_size=8)
nrf.open_tx_pipe(pipes[0])
nrf.open_rx_pipe(1, pipes[1])
nrf.start_listening()
num_needed = 16
num_successes = 0
num_failures = 0
led_state = 0
print('NRF24L01 master mode, sending %d packets...' % num_needed)
while num_successes < num_needed and num_failures < num_needed:
# stop listening and send packet
nrf.stop_listening()
millis = utime.ticks_ms()
led_state = max(1, (led_state << 1) & 0x0f)
print('sending:', millis, led_state)
try:
nrf.send(struct.pack('ii', millis, led_state))
except OSError:
pass
# start listening again
nrf.start_listening()
# wait for response, with 250ms timeout
start_time = utime.ticks_ms()
timeout = False
while not nrf.any() and not timeout:
if utime.ticks_diff(utime.ticks_ms(), start_time) > 250:
timeout = True
if timeout:
print('failed, response timed out')
num_failures += 1
else:
# recv packet
got_millis, = struct.unpack('i', nrf.recv())
# print response and round-trip delay
print('got response:', got_millis, '(delay', utime.ticks_diff(utime.ticks_ms(), got_millis), 'ms)')
num_successes += 1
# delay then loop
utime.sleep_ms(250)
print('master finished sending; successes=%d, failures=%d' % (num_successes, num_failures))
def slave():
nrf = NRF24L01(SPI(2), Pin('Y5'), Pin('Y4'), payload_size=8)
nrf.open_tx_pipe(pipes[1])
nrf.open_rx_pipe(1, pipes[0])
nrf.start_listening()
print('NRF24L01 slave mode, waiting for packets... (ctrl-C to stop)')
while True:
pyb.wfi()
if nrf.any():
while nrf.any():
buf = nrf.recv()
millis, led_state = struct.unpack('ii', buf)
print('received:', millis, led_state)
for i in range(4):
if led_state & (1 << i):
pyb.LED(i + 1).on()
else:
pyb.LED(i + 1).off()
pyb.delay(15)
nrf.stop_listening()
try:
nrf.send(struct.pack('i', millis))
except OSError:
pass
print('sent response')
nrf.start_listening()
def slave():
nrf = NRF24L01(SPI(2), Pin('Y5'), Pin('Y4'), payload_size=8)
nrf.open_tx_pipe(pipes[1])
nrf.open_rx_pipe(1, pipes[0])
nrf.start_listening()
print('NRF24L01 slave mode, waiting for packets... (ctrl-C to stop)')
while True:
machine.idle()
if nrf.any():
while nrf.any():
buf = nrf.recv()
millis, led_state = struct.unpack('ii', buf)
print('received:', millis, led_state)
for led in leds:
if led_state & 1:
led.on()
else:
led.off()
led_state >>= 1
utime.sleep_ms(15)
nrf.stop_listening()
try:
nrf.send(struct.pack('i', millis))
except OSError:
pass
print('sent response')
nrf.start_listening()
def setup():
print("Initialising the nRF24L0+ Module")
nrf = NRF24L01(SPI(0), csn, ce, payload_size=payload_size)
nrf.open_tx_pipe(send_pipe)
nrf.open_rx_pipe(1, receive_pipe)
nrf.start_listening()
return nrf
def setup():
"""Setup radio transiever to recieve commands and transmit verification."""
nrf = NRF24L01(SPI(0), csn, ce, payload_size=10)
nrf.open_tx_pipe(pipes[0])
nrf.open_rx_pipe(1, pipes[1])
nrf.start_listening()
led.value(0)
return nrf
def slave(spi):
if spi==1:
cfg = {'spi': 1, 'miso': 'X7', 'mosi': 'X8', 'sck': 'X6', 'csn': 'X5', 'ce': 'X4'}
else :
cfg = {'spi': 2, 'miso': 'Y7', 'mosi': 'Y8', 'sck': 'Y6', 'csn': 'Y5', 'ce': 'Y4'}
csn = Pin(cfg['csn'], mode=Pin.OUT, value=1)
ce = Pin(cfg['ce'], mode=Pin.OUT, value=0)
if cfg['spi'] == -1:
spi = SPI(-1, sck=Pin(cfg['sck']), mosi=Pin(cfg['mosi']), miso=Pin(cfg['miso']))
nrf = NRF24L01(spi, csn, ce, payload_size=8)
else:
nrf = NRF24L01(SPI(cfg['spi']), csn, ce, payload_size=8)
nrf.open_tx_pipe(pipes[1])
nrf.open_rx_pipe(1, pipes[0])
nrf.start_listening()
# print('NRF24L01 slave mode, waiting for packets... (ctrl-C to stop)')
while True:
if nrf.any():
while nrf.any():
buf = nrf.recv() #接收内容
millis, led_state = struct.unpack('ii', buf)#解析包unpack为解析包函数
# print('received:', millis, led_state)
for led in leds:
if led_state & 1:
led.on()
else:
led.off()
led_state >>= 1
utime.sleep_ms(_RX_POLL_DELAY)
# Give master time to get into receive mode.
utime.sleep_ms(_SLAVE_SEND_DELAY)
nrf.stop_listening()
try:
nrf.send(struct.pack('i', millis))
except OSError:
pass
print('sent response')
nrf.start_listening()
break
return millis
def slave():
csn = Pin(cfg["csn"], mode=Pin.OUT, value=1)
ce = Pin(cfg["ce"], mode=Pin.OUT, value=0)
if cfg["spi"] == -1:
spi = SPI(-1,
sck=Pin(cfg["sck"]),
mosi=Pin(cfg["mosi"]),
miso=Pin(cfg["miso"]))
nrf = NRF24L01(spi, csn, ce, payload_size=8)
else:
nrf = NRF24L01(SPI(cfg["spi"]), csn, ce, payload_size=8)
nrf.open_tx_pipe(pipes[1])
nrf.open_rx_pipe(1, pipes[0])
nrf.start_listening()
print("NRF24L01 slave mode, waiting for packets... (ctrl-C to stop)")
while True:
if nrf.any():
while nrf.any():
buf = nrf.recv()
millis, led_state = struct.unpack("ii", buf)
print("received:", millis, led_state)
for led in leds:
if led_state & 1:
led.on()
else:
led.off()
led_state >>= 1
utime.sleep_ms(_RX_POLL_DELAY)
# Give master time to get into receive mode.
utime.sleep_ms(_SLAVE_SEND_DELAY)
nrf.stop_listening()
try:
nrf.send(struct.pack("i", millis))
except OSError:
pass
print("sent response")
nrf.start_listening()
def master():
nrf = NRF24L01(SPI(2), Pin('Y5'), Pin('Y4'), payload_size=8)
nrf.open_tx_pipe(pipes[0])
nrf.open_rx_pipe(1, pipes[1])
nrf.start_listening()
num_needed = 16
num_successes = 0
num_failures = 0
led_state = 0
print('NRF24L01 master mode, sending %d packets...' % num_needed)
while num_successes < num_needed and num_failures < num_needed:
# stop listening and send packet
nrf.stop_listening()
millis = pyb.millis()
led_state = max(1, (led_state << 1) & 0x0f)
print('sending:', millis, led_state)
try:
nrf.send(struct.pack('ii', millis, led_state))
except OSError:
pass
# start listening again
nrf.start_listening()
# wait for response, with 250ms timeout
start_time = pyb.millis()
timeout = False
while not nrf.any() and not timeout:
if pyb.elapsed_millis(start_time) > 250:
timeout = True
if timeout:
print('failed, response timed out')
num_failures += 1
else:
# recv packet
got_millis, = struct.unpack('i', nrf.recv())
# print response and round-trip delay
print('got response:', got_millis, '(delay',
pyb.millis() - got_millis, 'ms)')
num_successes += 1
# delay then loop
pyb.delay(250)
print('master finished sending; successes=%d, failures=%d' %
(num_successes, num_failures))
def setUp(self):
super().setUp()
self.radio = NRF24L01(0,
0,
22,
18,
pri_mode_rx=False,
incoming_data_cb=data_callback)
self.radio.address_width = 5
self.radio.crc = NRF24L01.CRC_ENABLED
self.radio.crc_length = NRF24L01.CRC_8
self.radio.pa_level = NRF24L01.PA_LOW
self.radio.data_rate = NRF24L01.BR_1MBPS
self.radio.channel = 76
self.radio.retries = 5
self.radio.delay = 1000
self.radio.enable_interrupt(NRF24L01.RX_DR | NRF24L01.TX_DS
| NRF24L01.MAX_RT)
self.assertEqual(self.radio.state, 'standby_i',
'Standby Mode was not SET')
def master():
csn = Pin(cfg["csn"], mode=Pin.OUT, value=1)
ce = Pin(cfg["ce"], mode=Pin.OUT, value=0)
if cfg["spi"] == -1:
spi = SPI(-1,
sck=Pin(cfg["sck"]),
mosi=Pin(cfg["mosi"]),
miso=Pin(cfg["miso"]))
nrf = NRF24L01(spi, csn, ce, payload_size=8)
else:
nrf = NRF24L01(SPI(cfg["spi"]), csn, ce, payload_size=8)
nrf.open_tx_pipe(pipes[0])
nrf.open_rx_pipe(1, pipes[1])
nrf.start_listening()
num_needed = 16
num_successes = 0
num_failures = 0
led_state = 0
print("NRF24L01 master mode, sending %d packets..." % num_needed)
while num_successes < num_needed and num_failures < num_needed:
# stop listening and send packet
nrf.stop_listening()
millis = utime.ticks_ms()
led_state = max(1, (led_state << 1) & 0x0F)
print("sending:", millis, led_state)
try:
nrf.send(struct.pack("ii", millis, led_state))
except OSError:
pass
# start listening again
nrf.start_listening()
# wait for response, with 250ms timeout
start_time = utime.ticks_ms()
timeout = False
while not nrf.any() and not timeout:
if utime.ticks_diff(utime.ticks_ms(), start_time) > 250:
timeout = True
if timeout:
print("failed, response timed out")
num_failures += 1
else:
# recv packet
(got_millis, ) = struct.unpack("i", nrf.recv())
# print response and round-trip delay
print(
"got response:",
got_millis,
"(delay",
utime.ticks_diff(utime.ticks_ms(), got_millis),
"ms)",
)
num_successes += 1
# delay then loop
utime.sleep_ms(250)
print("master finished sending; successes=%d, failures=%d" %
(num_successes, num_failures))
import json
import time
import threading
import RPi.GPIO as GPIO
from mqtt_service import MqttService
from nrf24l01 import NRF24L01
from arm_controller import ArmController
from config import *
rf24 = NRF24L01()
mqtt = MqttService()
arm = ArmController()
robot = False
trashbin = False
def button_press():
global trashbin
trashbin = not trashbin
if trashbin:
for _ in range(3):
rf24.write(b'11')
rf24.write(b'21')
rf24.write(b'31')
time.sleep(0.1)
else:
ping_mqtt = 0
ping_fail = 0
water = False
wdt = WDT()
# Init MQTT
client = MQTTClient(config.CONFIG['MQTT_CLIENT'],
config.CONFIG['MQTT_BROKER'],
user=config.CONFIG['MQTT_USER'],
password=config.CONFIG['MQTT_PASSWORD'],
port=config.CONFIG['MQTT_PORT'])
# Init NRF24L01
csn = Pin(config.NRFCFG["csn"], mode=Pin.OUT, value=1)
ce = Pin(config.NRFCFG["ce"], mode=Pin.OUT, value=0)
nrf = NRF24L01(SPI(config.NRFCFG["spi"]), csn, ce, channel=76, payload_size=32)
nrf.open_rx_pipe(1, config.PIPES[1])
nrf.start_listening()
def time_now():
ntp_query = bytearray(48)
ntp_query[0] = 0x1b
try:
addr = socket.getaddrinfo(config.host, 123)[0][-1]
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.settimeout(1)
s.sendto(ntp_query, addr)
msg = s.recv(48)
s.close()
val = struct.unpack("!I", msg[40:44])[0]
def master():
csn = Pin(cfg['csn'], mode=Pin.OUT, value=1)
ce = Pin(cfg['ce'], mode=Pin.OUT, value=0)
if cfg['spi'] == -1:
spi = SPI(-1, sck=Pin(cfg['sck']), mosi=Pin(cfg['mosi']), miso=Pin(cfg['miso']))
nrf = NRF24L01(spi, csn, ce, payload_size= 32,channel = 80)
else:
nrf = NRF24L01(SPI(cfg['spi']), csn, ce, payload_size=32,channel = 80)
adc = machine.ADC(machine.Pin(39))
adc.atten(adc.ATTN_11DB)
row_0 = machine.Pin(13,machine.Pin.OUT)
row_1= machine.Pin(12,machine.Pin.OUT)
row_2 = machine.Pin(27,machine.Pin.OUT)
column_0 = machine.Pin(33,machine.Pin.OUT)
column_1 = machine.Pin(15,machine.Pin.OUT)
foot_map =[(1,0,1,0,0),(1,0,1,0,1),(1,0,1,1,0),(1,0,1,1,1),(0,0,0,0,0),(0,0,0,0,1),(0,0,0,1,0),(0,0,0,1,1),(1,0,0,1,1),(0,0,1,0,1),(0,0,1,1,0),(0,0,1,1,1),(0,1,1,0,1),(0,1,1,1,0),(0,1,0,0,1),(0,1,0,1,0)]
nrf.open_tx_pipe(pipes[0])
nrf.open_rx_pipe(1, pipes[1])
nrf.start_listening()
lorr = 1#left sing is 1
count = 0
print('NRF24L01 master mode, sending ')
while True :
# stop listening and send packet
nrf.stop_listening()
row_2_val,row_1_val,row_0_val,column_1_val,column_0_val = foot_map[count]
row_2.value(row_2_val)
row_1.value(row_1_val)
row_0.value(row_0_val)
column_1.value(column_1_val)
column_0.value(column_0_val)
result = adc.read()
datasend = result
try:
nrf.send(struct.pack('iii',lorr,datasend,count))
print('sending:', lorr, datasend)
except OSError:
pass
count = (1+count) % 16
# start listening again
nrf.start_listening()
# wait for response, with 50ms timeout
# start_time = utime.ticks_ms()
# timeout = False
# while not nrf.any() and not timeout:
# if utime.ticks_diff(utime.ticks_ms(), start_time) > 50:
# timeout = True
# if timeout:
# print('failed, response timed out')
# else:
# # recv packet
# got_millis = struct.unpack('i', nrf.recv())
# # print response and round-trip delay
# print('got response:', got_millis)
# delay then loop
utime.sleep_ms(15)
import gc
gc.collect()
SCK = 5
MOSI = 4
MISO = 0
CE = 2
CSN = 14
from nrf24l01 import NRF24L01
nrf = NRF24L01(ce=2, csn=14)
nrf.set_channel(90)
nrf.set_speed(0x08)
nrf.set_crc(2)
nrf.open_tx_pipe('e7e7e7e7e7')
nrf.send(bytes([0x01, 0x02]))
nrf.read_reg(0x07)
def __init__(self,spi,csn,ce): csn0 = Pin(csn, mode=Pin.OUT, value=1) ce0 = Pin(ce, mode=Pin.OUT, value=0) self.nrf = NRF24L01(SPI(spi), csn0, ce0, payload_size=8)