def init_LoRa(self):
self.sending_to_lora = False
self.lora = rf95.RF95(self.cfg.LoRa_spiDev,0, int_pin=None,reset_pin=5)
if not self.lora.init(): # returns True if found
log("RF95 not found")
self.lora = None
return
self.lora.set_frequency(self.cfg.LoRa_frequency)
self.lora.set_tx_power(self.cfg.LoRa_power)
self.lora.set_modem_config_simple(getLoRaBWCode(self.cfg.LoRa_BW),
getLoRaCRCode(self.cfg.LoRa_CR),
getLoRaSFCode(self.cfg.LoRa_SF))
self.lora.sleep()
log("LoRa 0K (" +str(self.cfg.LoRa_frequency)+ "," + self.cfg.LoRa_BW+","+self.cfg.LoRa_CR+","+self.cfg.LoRa_SF+ "," +self.cfg.LoRa_mode +")" )
def __init__(self, cfg):
self.cfg = cfg
threading.Thread.__init__(self)
sensor.Sensor.__init__(self, cfg)
self.lora = rf95.RF95(self.cfg.LoRa_spiDev, 0, None, None)
if self.lora.init():
self.lora.set_frequency(self.cfg.LoRa_frequency)
self.lora.set_tx_power(self.cfg.LoRa_power)
self.lora.set_modem_config_simple(getLoRaBWCode(cfg.LoRa_BW),
getLoRaCRCode(self.cfg.LoRa_CR),
getLoRaSFCode(self.cfg.LoRa_SF))
log("LoRa 0K (" + str(cfg.LoRa_frequency) + "," + cfg.LoRa_BW +
"," + self.cfg.LoRa_CR + "," + self.cfg.LoRa_SF + "," +
cfg.LoRa_mode + ")")
else:
log("ERROR RF95 not found")
self.lora = None
#!/usr/bin/python3
from __future__ import print_function
import time
import rf95
import RPi.GPIO as GPIO
GPIO.setwarnings(True)
file = open("/home/pi/logfile.txt", "a")
file.write("\n")
file.write("A")
file.close()
# Create rf95 object with CS0 and external interrupt on pin 25
#lora = rf95.RF95(CS, INT(G0/IRQ), RST)
#lora = rf95.RF95(0, 25, 17) #GPIO original
lora = rf95.RF95(0, 25) #GPIO original
#lora = rf95.RF95(0, 24, 4) #GPIO
#lora = rf95.RF95(0, 17, 22) #GPIO test
Bw125Cr45Sf128 = (0x72, 0x74, 0x00)
file = open("/home/pi/logfile.txt", "a")
file.write("\n")
file.write("B")
file.close()
if not lora.init(): # returns True if found
print("RF95 not found")
lora.cleanup()
quit(1)
else:
#!/usr/bin/env python3
import rf95
# Create rf95 object with CS0 and external interrupt on pin 25
lora = rf95.RF95(24, 23, 22)
if not lora.init(): # returns True if found
print("RF95 not found")
quit(1)
else:
print("RF95 LoRa mode ok")
# set frequency, power and mode
lora.set_frequency(915.5)
lora.set_tx_power(5)
lora.set_modem_config(Bw31_25Cr48Sf512)
# Send some data
lora.send([0x00, 0x01, 0x02, 0x03])
lora.wait_packet_sent()
# Send a string
lora.send(lora.str_to_data("$TELEMETRY TEST"))
lora.wait_packet_sent()
# Wait until data is available
while not lora.available():
pass
# Receive
#data = lora.recv()
#print (data)
#for i in data:
try:
ssdv_file = open(ssdv_filename, "rb")
except IOError as e:
print("Could not open the file")
print("I/O error({0}): {1}".format(e.errno, e.strerror))
exit(1)
if os.path.getsize(ssdv_filename) / 256 != 0:
print("File does not look like a SSDV image")
exit(1)
# ok, get number of packets to send
ssdv_packets = os.path.getsize(ssdv_filename) // 256
# Create rf95 object with CS0 and external interrupt on pin 25
lora = rf95.RF95(0, 25)
if not lora.init(): # returns True if found
print("RF95 not found")
quit(1)
else:
print("RF95 LoRa mode ok")
# set frequency, power and mode
lora.set_frequency(868.5)
lora.set_tx_power(5)
# Send ssdv packets
# We are ignoring the first sync byte of each packet
# as the rf95 packet payload size is just 255 bytes.
# We need to take this into account on the receive side.
def setServoAngle(servoNum1, position):
# print ("Servo {} {} micro pulses".format(s, pw))
pw = position * 500 / 90 + 1500
pi.set_servo_pulsewidth(servoNum1, pw)
pi = pigpio.pi()
#+---------------------------------------------AllPins--------------------------------------------------+
#BCMMODE GPIOMODE
thrusterPin = 18 #GPIO18
servoPin = 23 #GPIO23
#LoRa
lora = rf95.RF95(0, 25, 17) #GPIO
Bw125Cr45Sf128 = (0x72, 0x74, 0x00)
lora.set_frequency(433)
lora.set_tx_power(23)
header = [0xff, 0xff, 0, 0]
#Thruster
setServo(thrusterPin, 1500) #pin 12 on board (GPIO18 PCM_CLK)
#14Board for Ground
#Servo
setServoAngle(servoPin, -15) #0degrees
#Antenna
#2, 6, 8(TX), and 10(RX)(All Board)
podLocs = [LocationGlobal(0, 0, 0)
] #List of locations that the drone will drop pods off at
podsDropped = 0 # Determines which location the drone will drop the next pod off at
totalPods = 1 # how many pods are there?
podsRecovered = 1 - totalPods # Determines which location the drone will return to before hunting for the nearest pod, a negative number signifies a return to home
funnelSize = 0.25 #Radius of the funnel in meters
grabDist = 0.25 #Distance from the pod from where we can grab, in meters
recvData = [
None, None, time.time()
] #the recieving thread adds to this in the format ((x, y), z, timestamp), where any value is None if not known
recvRadioBuffer = []
loraPodLoc = None
vision = socket.socket()
vision.bind(("127.0.0.1", 4444))
radio = rf95.RF95(0, 25)
if not radio.init():
print "Radio not found, aborting"
quit(1)
else:
print "Radio found"
radio.set_tx_power(23)
radio.set_modem_config(rf95.Bw125Cr45Sf128)
radio.set_frequency(915.0)
######################################################################
## ##
## METHOD DEFINITIONS ##
## ##
######################################################################
# GPIO.setup(25, GPIO.IN)
# GPIO.add_event_detect(25, GPIO.RISING, callback=handle_interrupt)
def log(message):
print datetime.datetime.now().strftime("[%d/%m/%Y-%H:%M:%S]"), message
with open("rx.log", "a") as myfile:
myfile.write(datetime.datetime.now().strftime("[%d/%m/%Y-%H:%M:%S]") +
' ' + message + '\n')
os.system("sudo /opt/vc/bin/tvservice -o > /dev/null")
os.system("echo 1 | sudo tee /sys/class/leds/led0/brightness > /dev/null")
# Create rf95 object with CS0 and external interrupt on pin 25
lora = rf95.RF95(1, 0, None, None)
if not lora.init(): # returns True if found
log("RF95 not found")
quit(1)
else:
log("RF95 LoRa mode ok")
# set frequency, power and mode
lora.set_frequency(869.2)
lora.set_tx_power(20)
#lora.set_modem_config_simple(rf95.BW_31K25HZ,rf95.CODING_RATE_4_8,rf95.SPREADING_FACTOR_512CPS)
#lora.set_modem_config(rfm95.Bw125Cr45Sf128 ) # Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on. Default medium range.
#lora.set_modem_config(rf95.Bw500Cr45Sf128 ) # Bw = 500 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on. Fast+short range.
#lora.set_modem_config(rf95.Bw31_25Cr48Sf512) # Bw = 31.25 kHz, Cr = 4/8, Sf = 512chips/symbol, CRC on. Slow+long range.
