import busio
addressLength = 5 # available for int [3,5]
rxPipeNum = 0
transmitInterval = 0.2
ce = dio.DigitalInOut(board.D18)
csn = dio.DigitalInOut(board.D16)
# config.txt -> dtoverlay=spi1-1cs NEEDED?
board.MOSI = 20 #raspi4b+ spi1
board.SCK = 21 #raspi4b+ spi1
board.MISO = 19 #raspi4b+ spi1
spi = busio.SPI(board.SCK, board.MOSI, board.MISO)
nrf = RF24(spi, csn, ce, address_length=addressLength)
startCode = "@"
def encodeData(value, code):
result = startCode + code+ " "
result = result.encode("utf-8")
for letter in str(value):
result += letter.encode("utf-8")
return result
def decodeData(value):
try :
result = value.decode("utf-8")
print(result)
if result[0] != "@":
from circuitpython_nrf24l01 import RF24
# addresses needs to be in a buffer protocol object (bytearray)
address = b'1Node'
# change these (digital output) pins accordingly
ce = dio.DigitalInOut(board.D4)
csn = dio.DigitalInOut(board.D5)
# using board.SPI() automatically selects the MCU's
# available SPI pins, board.SCK, board.MOSI, board.MISO
spi = board.SPI() # init spi bus object
# we'll be using the dynamic payload size feature (enabled by default)
# initialize the nRF24L01 on the spi bus object
nrf = RF24(spi, csn, ce)
# lets create a list of payloads to be streamed to the nRF24L01 running slave()
buffers = []
SIZE = 32 # we'll use SIZE for the number of payloads in the list and the payloads' length
for i in range(SIZE):
buff = b''
for j in range(SIZE):
buff += bytes([(j >= SIZE / 2 + abs(SIZE / 2 - i) or j <
SIZE / 2 - abs(SIZE / 2 - i)) + 48])
buffers.append(buff)
del buff
def master(count=1): # count = 5 will transmit the list 5 times
"""Transmits a massive buffer of payloads"""
# set address of RX node into a TX pipe
import digitalio as dio
from circuitpython_nrf24l01 import RF24
# addresses needs to be in a buffer protocol object (bytearray)
address = [b'1Node', b'2Node']
# change these (digital output) pins accordingly
ce = dio.DigitalInOut(board.D4)
csn = dio.DigitalInOut(board.D5)
# using board.SPI() automatically selects the MCU's
# available SPI pins, board.SCK, board.MOSI, board.MISO
spi = board.SPI() # init spi bus object
# initialize the nRF24L01 on the spi bus object
nrf = RF24(spi, csn, ce, ask_no_ack=False)
nrf.dynamic_payloads = False # this is the default in the TMRh20 arduino library
# set address of TX node into a RX pipe
nrf.open_rx_pipe(1, address[1])
# set address of RX node into a TX pipe
nrf.open_tx_pipe(address[0])
def master(count=5): # count = 5 will only transmit 5 packets
"""Transmits an arbitrary unsigned long value every second. This method
will only try to transmit (count) number of attempts"""
# for the "HandlingData" part of the test from the TMRh20 library example
float_value = 0.01
while count:
nrf.listen = False # ensures the nRF24L01 is in TX mode
display settings after changing contexts ( & thus configurations) """ import board import digitalio as dio from circuitpython_nrf24l01 import RF24 # change these (digital output) pins accordingly ce = dio.DigitalInOut(board.D4) csn = dio.DigitalInOut(board.D5) # using board.SPI() automatically selects the MCU's # available SPI pins, board.SCK, board.MOSI, board.MISO spi = board.SPI() # init spi bus object # initialize the nRF24L01 objects on the spi bus object nrf = RF24(spi, csn, ce, ack=True) # the first object will have all the features enabled # including the option to use custom ACK payloads # the second object has most features disabled/altered # disabled dynamic_payloads, but still using enabled auto_ack # the IRQ pin is configured to only go active on "data fail" # using a different channel: 2 (default is 76) # CRC is set to 1 byte long # data rate is set to 2 Mbps # payload length is set to 8 bytes # NOTE address length is set to 3 bytes # RF power amplifier is set to -12 dbm # automatic retry attempts is set to 15 (maximum allowed) # automatic retry delay (between attempts) is set to 1000 microseconds basicRF = RF24(spi, csn, ce,
from circuitpython_nrf24l01 import RF24
# addresses needs to be in a buffer protocol object (bytearray)
address = b'1Node'
# change these (digital output) pins accordingly
ce = dio.DigitalInOut(board.D8)
csn = dio.DigitalInOut(board.D17)
# using board.SPI() automatically selects the MCU's
# available SPI pins, board.SCK, board.MOSI, board.MISO
spi = board.SPI() # init spi bus object
# we'll be using the dynamic payload size feature (enabled by default)
# initialize the nRF24L01 on the spi bus object
nrf = RF24(spi, csn, ce, ard=1000, arc=15, data_rate=1)
def generateSHA1Checksum(l, len=30):
h = hashlib.new('sha1')
v = ''
#Add each value in l in string form
for s in l:
v = v + str(s)
#Put into bytearray for hashing
h.update(bytes(v.encode('ASCII')))
l.append('Checksum')
l.append(h.hexdigest()[0:len])
return l
def initializeHardware(display_diagnostics=False,
ce_pin=board.D8,
csn_pin=board.D17,
button_pin=16,
ch=76):
if cfg.config['has_radio']:
from circuitpython_nrf24l01 import RF24
import digitalio as dio
global address, spi, nrf
try:
address = b'1Node'
ce = dio.DigitalInOut(ce_pin)
csn = dio.DigitalInOut(csn_pin)
spi = board.SPI() # init spi bus object
#Initialize the nRF24L01 on the spi bus object
nrf = RF24(spi,
csn,
ce,
ard=2000,
arc=15,
data_rate=1,
auto_ack=True,
channel=ch)
if display_diagnostics:
nrf.what_happened(True)
else:
printOK("Radio Initialized")
except:
printCRIT("Radio required to proceed. Exiting.")
quit()
else:
printCRIT("Radio required to proceed. Exiting.")
quit()
if cfg.config['has_accel']:
import adafruit_lsm303_accel
import adafruit_lsm303dlh_mag
import busio
global mag, accel, i2c
try:
i2c = busio.I2C(board.SCL, board.SDA)
mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
calibrateAccel(cycles=25)
printOK("Accel Initialized")
except:
printERR("Accel Error, Check Connections")
else:
printBYP("No Accel Installed... Bypassing")
if cfg.config['has_GPS']:
import serial
import adafruit_gps
global gps
try:
uart = serial.Serial("/dev/ttyS0", baudrate=9600, timeout=10)
gps = adafruit_gps.GPS(uart, debug=False)
gps.send_command(b'PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0')
gps.send_command(b'PMTK220,200')
if display_diagnostics:
gps.update()
getGPSLock()
else:
printOK("GPS Initialized")
except:
printERROR("GPS Error, Check Connections")
else:
printBYP("No GPS Installed... Bypassing")
if cfg.config['has_button']:
GPIO.setmode(GPIO.BCM)
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
if display_diagnostics:
print(interupt())
else:
printOK("Button Initialized")
else:
printBYP("No Button Installed... Bypassing")
printOK("System Ready")
print("=" * 40)
from circuitpython_nrf24l01 import RF24
# addresses needs to be in a buffer protocol object (bytearray)
address = b'ttech'
# change these (digital output) pins accordingly
ce = dio.DigitalInOut(board.D5)
csn = dio.DigitalInOut(board.D6)
# using board.SPI() automatically selects the MCU's
# available SPI pins, board.SCK, board.MOSI, board.MISO
spi = board.SPI() # init spi bus object
# we'll be using the dynamic payload size feature (enabled by default)
# initialize the nRF24L01 on the spi bus object
nrf = RF24(spi, csn, ce, channel=106, data_rate=250)
def master(count=5): # count = 5 will only transmit 5 packets
"""Transmits an incrementing integer every second"""
# set address of RX node into a TX pipe
nrf.open_tx_pipe(address)
# ensures the nRF24L01 is in TX mode
nrf.listen = False
while count:
# use struct.pack to packetize your data
# into a usable payload
buffer = struct.pack('<i', count)
# 'i' means a single 4 byte int value.
# '<' means little endian byte order. this may be optional
"""
Example of library usage receiving commands via an
nRF24L01 transceiver to control a Mecanum drivetrain.
"""
import board
from digitalio import DigitalInOut as Dio
from circuitpython_nrf24l01 import RF24
from drivetrain import Mecanum, BiMotor, NRF24L01rx
# instantiate transceiver radio on the SPI bus
nrf = RF24(board.SPI(), Dio(board.D5), Dio(board.D4))
# instantiate motors for a Mecanum drivetrain in the following order
# Front-Right, Rear-Right, Rear-Left, Front-Left
motors = [
BiMotor([board.RX, board.TX]),
BiMotor([board.D13, board.D12]),
BiMotor([board.D11, board.D10]),
BiMotor([board.D2, board.D7])
]
# NOTE there are no more PWM pins available
# instantiate receiving object for a Mecanum drivetrain
d = NRF24L01rx(nrf, Mecanum(motors))
while True: # this runs forever
d.sync()
# doing a keyboard interupt will most likely leave the SPI bus in an
# undesirable state. You must do a hard-reset of the circuitoython MCU to
# reset the SPI bus for continued use. This code assumes power is lost on exit.
