arduino ga6例程_Arduino通过nrf24l01与树莓派通信

树莓派代码如下：

/*

Copyright (C) 2011 J. Coliz

This program is free software; you can redistribute it and/or

modify it under the terms of the GNU General Public License

version 2 as published by the Free Software Foundation.

03/17/2013 : Charles-Henri Hallard (http://hallard.me)

Modified to use with Arduipi board http://hallard.me/arduipi

Changed to use modified bcm2835 and RF24 library

TMRh20 2014 - Updated to work with optimized RF24 Arduino library

*/

/**

* Example RF Radio Ping Pair

*

* This is an example of how to use the RF24 class on RPi, communicating to an Arduino running

* the GettingStarted sketch.

*/

#include

#include

#include

#include

#include

#include

using namespace std;

//

// Hardware configuration

// Configure the appropriate pins for your connections

/****************** Raspberry Pi ***********************/

// Radio CE Pin, CSN Pin, SPI Speed

// See http://www.airspayce.com/mikem/bcm2835/group__constants.html#ga63c029bd6500167152db4e57736d0939 and the related enumerations for pin information.

// Setup for GPIO 22 CE and CE0 CSN with SPI Speed @ 4Mhz

//RF24 radio(RPI_V2_GPIO_P1_22, BCM2835_SPI_CS0, BCM2835_SPI_SPEED_4MHZ);

// NEW: Setup for RPi B+

//RF24 radio(RPI_BPLUS_GPIO_J8_15,RPI_BPLUS_GPIO_J8_24, BCM2835_SPI_SPEED_8MHZ);

// Setup for GPIO 15 CE and CE0 CSN with SPI Speed @ 8Mhz

//RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);

// RPi generic:

RF24 radio(22,0);

/*** RPi Alternate ***/

//Note: Specify SPI BUS 0 or 1 instead of CS pin number.

// See http://tmrh20.github.io/RF24/RPi.html for more information on usage

//RPi Alternate, with MRAA

//RF24 radio(15,0);

//RPi Alternate, with SPIDEV - Note: Edit RF24/arch/BBB/spi.cpp and  set 'this->device = "/dev/spidev0.0";;' or as listed in /dev

//RF24 radio(22,0);

/****************** Linux (BBB,x86,etc) ***********************/

// See http://tmrh20.github.io/RF24/pages.html for more information on usage

// See http://iotdk.intel.com/docs/master/mraa/ for more information on MRAA

// See https://www.kernel.org/doc/Documentation/spi/spidev for more information on SPIDEV

// Setup for ARM(Linux) devices like BBB using spidev (default is "/dev/spidev1.0" )

//RF24 radio(115,0);

//BBB Alternate, with mraa

// CE pin = (Header P9, Pin 13) = 59 = 13 + 46

//Note: Specify SPI BUS 0 or 1 instead of CS pin number.

//RF24 radio(59,0);

/********** User Config *********/

// Assign a unique identifier for this node, 0 or 1

bool radioNumber = 1;

/********************************/

// Radio pipe addresses for the 2 nodes to communicate.

const uint8_t pipes[][6] = {"1Node","2Node"};

int main(int argc, char** argv){

bool role_ping_out = true, role_pong_back = false;

bool role = role_pong_back;

cout << "RF24/examples/GettingStarted/\n";

// Setup and configure rf radio

radio.begin();

// optionally, increase the delay between retries & # of retries

radio.setRetries(15,15);

// Dump the configuration of the rf unit for debugging

radio.printDetails();

/********* Role chooser ***********/

printf("\n ************ Role Setup ***********\n");

string input = "";

char myChar = {0};

cout << "Choose a role: Enter 0 for pong_back, 1 for ping_out (CTRL+C to exit) \n>";

getline(cin,input);

if(input.length() == 1) {

myChar = input[0];

if(myChar == '0'){

cout << "Role: Pong Back, awaiting transmission " << endl << endl;

}else{  cout << "Role: Ping Out, starting transmission " << endl << endl;

role = role_ping_out;

}

}

/***********************************/

// This simple sketch opens two pipes for these two nodes to communicate

// back and forth.

if ( !radioNumber )    {

radio.openWritingPipe(pipes[0]);

radio.openReadingPipe(1,pipes[1]);

} else {

radio.openWritingPipe(pipes[1]);

radio.openReadingPipe(1,pipes[0]);

}

radio.startListening();

// forever loop

while (1)

{

if (role == role_ping_out)

{

// First, stop listening so we can talk.

radio.stopListening();

// Take the time, and send it.  This will block until complete

printf("Now sending...\n");

unsigned long time = millis();

bool ok = radio.write( &time, sizeof(unsigned long) );

if (!ok){

printf("failed.\n");

}

// Now, continue listening

radio.startListening();

// Wait here until we get a response, or timeout (250ms)

unsigned long started_waiting_at = millis();

bool timeout = false;

while ( ! radio.available() && ! timeout ) {

if (millis() - started_waiting_at > 200 )

timeout = true;

}

// Describe the results

if ( timeout )

{

printf("Failed, response timed out.\n");

}

else

{

// Grab the response, compare, and send to debugging spew

unsigned long got_time;

radio.read( &got_time, sizeof(unsigned long) );

// Spew it

printf("Got response %lu, round-trip delay: %lu\n",got_time,millis()-got_time);

}

sleep(1);

}

//

// Pong back role.  Receive each packet, dump it out, and send it back

//

if ( role == role_pong_back )

{

// if there is data ready

if ( radio.available() )

{

// Dump the payloads until we've gotten everything

unsigned long got_time;

// Fetch the payload, and see if this was the last one.

while(radio.available()){

radio.read( &got_time, sizeof(unsigned long) );

}

radio.stopListening();

radio.write( &got_time, sizeof(unsigned long) );

// Now, resume listening so we catch the next packets.

radio.startListening();

// Spew it

printf("Got payload(%d) %lu...\n",sizeof(unsigned long), got_time);

delay(925); //Delay after payload responded to, minimize RPi CPU time

}

}

} // forever loop

return 0;

}