From 652221b10999170b5ebbc7268810d0da1d721f45 Mon Sep 17 00:00:00 2001
From: Samo Penic <samo.penic@gmail.com>
Date: Wed, 18 May 2022 11:12:52 +0000
Subject: [PATCH] Miha's accelerometer
---
firmware/accelerometer_nrf24_basestation_fw/accelerometer_nrf24_basestation_fw.ino | 73 ++++++++++++
firmware/debug_receiver/receiver/receiver.ino | 51 +++++++
firmware/acellerometer_nrf24_sensor_node_fw/acellerometer_nrf24_sensor_node_fw.ino | 107 +++++++++++++++++
firmware/accelerometer_nrf24/accelerometer_nrf24.ino | 74 ++++++++++++
4 files changed, 301 insertions(+), 4 deletions(-)
diff --git a/firmware/accelerometer_nrf24/accelerometer_nrf24.ino b/firmware/accelerometer_nrf24/accelerometer_nrf24.ino
new file mode 100644
index 0000000..fce3224
--- /dev/null
+++ b/firmware/accelerometer_nrf24/accelerometer_nrf24.ino
@@ -0,0 +1,74 @@
+/* There was a help from these two pages:
+https://forum.arduino.cc/t/connect-nrf24l01-to-esp32/678710/4
+https://electropeak.com/learn/wireless-communication-w-arduino-and-nrf24l01/
+*/
+
+#include <RF24_config.h>
+#include <nRF24L01.h>
+#include <RF24.h>
+#include <printf.h>
+
+#include<WiFi.h>
+
+#define IN_TRIGGER 17
+#define OUT_TRIGGER 16
+
+
+//RF24 radio(2, 4); // CE, CSN
+RF24 radio(22, 21); // CE, CSN
+
+const byte address[6] = {'R','E','C','V', '1'};
+char dataToSend[4] = "TRG";
+
+void IRAM_ATTR isr() {
+// detachInterrupt(digitalPinToInterrupt(IN_TRIGGER));
+ digitalWrite(OUT_TRIGGER, LOW);
+ long time=micros();
+ while(micros()-time<4000);
+ digitalWrite(OUT_TRIGGER,HIGH);
+// radio.write( &dataToSend, sizeof(dataToSend) );
+
+// attachInterrupt(digitalPinToInterrupt(IN_TRIGGER), isr, RISING);
+
+}
+
+
+
+void setup() {
+ // put your setup code here, to run once:
+
+ WiFi.mode(WIFI_OFF);
+ btStop();
+
+
+ radio.begin();
+ radio.openWritingPipe(address);
+ radio.setPALevel(RF24_PA_MAX);
+ radio.setDataRate( RF24_1MBPS );
+ radio.setRetries(1,0); // delay, count
+ //pinMode(IN_TRIGGER, INPUT_PULLUP);
+ pinMode(OUT_TRIGGER, OUTPUT);
+ digitalWrite(OUT_TRIGGER,HIGH);
+ attachInterrupt(digitalPinToInterrupt(IN_TRIGGER), isr, FALLING);
+ Serial.begin(115200);
+
+}
+
+void loop() {
+ // put your main code here, to run repeatedly:
+//Serial.print(micros());
+//Serial.println(": ---> TRG");
+//unsigned long start_timer = micros();
+
+radio.write( &dataToSend, 4 );
+long time=micros();
+ while(micros()-time<5000);
+//Serial.print(micros());
+//Serial.println(": TRG--->");
+/*
+unsigned long end_timer = micros();
+Serial.print(F(" Time to transmit: "));
+ Serial.print(end_timer - start_timer); // print the timer result
+ Serial.println(F(" us"));
+*/
+}
diff --git a/firmware/accelerometer_nrf24_basestation_fw/accelerometer_nrf24_basestation_fw.ino b/firmware/accelerometer_nrf24_basestation_fw/accelerometer_nrf24_basestation_fw.ino
new file mode 100644
index 0000000..a18578b
--- /dev/null
+++ b/firmware/accelerometer_nrf24_basestation_fw/accelerometer_nrf24_basestation_fw.ino
@@ -0,0 +1,73 @@
+#include <RF24_config.h>
+#include <nRF24L01.h>
+#include <RF24.h>
+#include <printf.h>
+
+RF24 radio(22, 21); // CE, CSN
+//RF24 radio(15,4); // CE, CSN
+
+const byte address[6] = {'L','O','G','G', 'R'};
+
+char val[4];
+
+struct PayloadStruct
+{
+ uint8_t nodeID;
+ uint16_t payloadID;
+ float ax;
+ float ay;
+ float az;
+ float wx;
+ float wy;
+ float wz;
+};
+
+PayloadStruct payload;
+void setup() {
+ // put your setup code here, to run once:
+
+ Serial.begin(115200);
+ radio.begin();
+ radio.openReadingPipe(0, address);
+ radio.setPALevel(RF24_PA_MIN);
+ radio.setDataRate( RF24_1MBPS );
+ radio.startListening();
+
+}
+
+void loop() {
+ // put your main code here, to run repeatedly:
+
+ delay(5);
+ //radio.startListening();
+ if ( radio.available()) {
+ while (radio.available()) {
+ Serial.print(millis());
+ radio.read(&payload, sizeof(payload));
+/* Serial.print("Received payload ID = ");
+ Serial.print((int)payload.payloadID);
+ Serial.print(" ax=");
+ Serial.println(payload.ax);
+ */
+
+ Serial.print(",");
+ Serial.print(payload.nodeID);
+ Serial.print(",");
+ Serial.print(payload.payloadID);
+ Serial.print(",");
+ Serial.print(payload.ax);
+ Serial.print(",");
+ Serial.print(payload.ay);
+ Serial.print(",");
+ Serial.print(payload.az);
+ Serial.print(",");
+ Serial.print(payload.wx);
+ Serial.print(",");
+ Serial.print(payload.wy);
+ Serial.print(",");
+ Serial.println(payload.wz);
+
+ }
+ }
+
+}
diff --git a/firmware/acellerometer_nrf24_sensor_node_fw/acellerometer_nrf24_sensor_node_fw.ino b/firmware/acellerometer_nrf24_sensor_node_fw/acellerometer_nrf24_sensor_node_fw.ino
new file mode 100644
index 0000000..81cd737
--- /dev/null
+++ b/firmware/acellerometer_nrf24_sensor_node_fw/acellerometer_nrf24_sensor_node_fw.ino
@@ -0,0 +1,107 @@
+#include <RF24_config.h>
+#include <nRF24L01.h>
+#include <RF24.h>
+#include <printf.h>
+
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+#include <Wire.h>
+
+Adafruit_MPU6050 mpu;
+
+
+//RF24 radio(22, 21); // CE, CSN
+RF24 radio(15,4); // CE, CSN
+
+const byte RXaddress[6] = {'R','E','C','V', '1'};
+const byte TXaddress[6] = {'L','O','G','G', 'R'};
+
+char val[4];
+
+struct PayloadStruct
+{
+ uint8_t nodeID;
+ uint16_t payloadID;
+ float ax;
+ float ay;
+ float az;
+ float wx;
+ float wy;
+ float wz;
+};
+
+PayloadStruct payload;
+void setup() {
+ // put your setup code here, to run once:
+
+ Serial.begin(115200);
+ radio.begin();
+ radio.openReadingPipe(0, RXaddress);
+ radio.openWritingPipe(TXaddress);
+ radio.setPALevel(RF24_PA_MIN);
+ radio.setDataRate( RF24_1MBPS );
+ // radio.setPayloadSize(sizeof(payload));
+ radio.setRetries(1,0); // delay, count
+ radio.startListening();
+ payload.payloadID=0;
+ payload.nodeID=1;
+
+ // Try to initialize MPU accel!
+ if (!mpu.begin()) {
+ Serial.println("Failed to find MPU6050 chip");
+ while (1) {
+ delay(10);
+ }
+ }
+ Serial.println("MPU6050 Found!");
+
+ mpu.setAccelerometerRange(MPU6050_RANGE_4_G);
+ mpu.setGyroRange(MPU6050_RANGE_500_DEG);
+ mpu.setFilterBandwidth(MPU6050_BAND_260_HZ);
+}
+
+void loop() {
+ // put your main code here, to run repeatedly:
+ sensors_event_t a, g, temp;
+ //delay(5);
+ mpu.getEvent(&a, &g, &temp);
+ //radio.startListening();
+ if ( radio.available()) {
+ while (radio.available()) {
+
+ radio.read(&val, sizeof(val));
+// Serial.print("Received = ");
+// Serial.println(val);
+ radio.stopListening(); // put radio in TX mode
+
+// unsigned long start_timer = micros(); // start the timer
+
+
+ payload.ax=a.acceleration.x;
+ payload.ay=a.acceleration.y;
+ payload.az=a.acceleration.z;
+ payload.wx=g.gyro.x;
+ payload.wy=g.gyro.y;
+ payload.wz=g.gyro.z;
+ bool report = radio.write(&payload, sizeof(payload)); // transmit & save the report
+// unsigned long end_timer = micros(); // end the timer
+ /* if (report) {
+ // payload was delivered
+
+ Serial.print(F("Transmission of payloadID "));
+ Serial.print(payload.payloadID); // print payloadID
+ Serial.print(F(" as node "));
+ Serial.print(payload.nodeID); // print nodeID
+ Serial.print(F(" successful!"));
+ Serial.print(F(" Time to transmit: "));
+ Serial.print(end_timer - start_timer); // print the timer result
+ Serial.println(F(" us"));
+ } else {
+ Serial.println(F("Transmission failed or timed out")); // payload was not delivered
+ } */
+ payload.payloadID++; // increment payload number
+ radio.startListening();
+ }
+ }
+
+}
diff --git a/firmware/debug_receiver/receiver/receiver.ino b/firmware/debug_receiver/receiver/receiver.ino
index 478a842..5466d12 100644
--- a/firmware/debug_receiver/receiver/receiver.ino
+++ b/firmware/debug_receiver/receiver/receiver.ino
@@ -3,18 +3,40 @@
#include <RF24.h>
#include <printf.h>
-RF24 radio(22, 21); // CE, CSN
-const byte address[6] = {'R','E','C','V', '1'};
+//RF24 radio(22, 21); // CE, CSN
+RF24 radio(15,4); // CE, CSN
+
+const byte RXaddress[6] = {'R','E','C','V', '1'};
+const byte TXaddress[6] = {'L','O','G','G', 'R'};
+
char val[4];
+struct PayloadStruct
+{
+ uint8_t nodeID;
+ unsigned long payloadID;
+ float ax;
+ float ay;
+ float az;
+ float wx;
+ float wy;
+ float wz;
+};
+
+PayloadStruct payload;
void setup() {
// put your setup code here, to run once:
Serial.begin(115200);
radio.begin();
- radio.openReadingPipe(0, address);
+ radio.openReadingPipe(0, RXaddress);
+ radio.openWritingPipe(TXaddress);
radio.setPALevel(RF24_PA_MIN);
+ radio.setDataRate( RF24_250KBPS );
+ radio.setPayloadSize(sizeof(payload));
radio.startListening();
+ payload.payloadID=0;
+ payload.nodeID=1;
}
@@ -22,13 +44,34 @@
// put your main code here, to run repeatedly:
delay(5);
- radio.startListening();
+ //radio.startListening();
if ( radio.available()) {
while (radio.available()) {
radio.read(&val, sizeof(val));
Serial.print("Received = ");
Serial.println(val);
+ radio.stopListening(); // put radio in TX mode
+
+ unsigned long start_timer = micros(); // start the timer
+ bool report = radio.write(&payload, sizeof(payload)); // transmit & save the report
+ unsigned long end_timer = micros(); // end the timer
+ if (report) {
+ // payload was delivered
+
+ Serial.print(F("Transmission of payloadID "));
+ Serial.print(payload.payloadID); // print payloadID
+ Serial.print(F(" as node "));
+ Serial.print(payload.nodeID); // print nodeID
+ Serial.print(F(" successful!"));
+ Serial.print(F(" Time to transmit: "));
+ Serial.print(end_timer - start_timer); // print the timer result
+ Serial.println(F(" us"));
+ } else {
+ Serial.println(F("Transmission failed or timed out")); // payload was not delivered
+ }
+ payload.payloadID++; // increment payload number
+ radio.startListening();
}
}
--
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