Question

我正在尝试将两个充当发送器的NRF24L01收发器同步到充当接收器的NRF24L01中。

两个发送器都将连接到单独的传感器，而这些传感器的数据正是我试图将其同时发送到接收器中的。结果是两个发送器产生的难以理解的数据冲突。

我的代码如下。如您在下面的接收器代码中所见，我尝试将数据包与发送器分开。

    #include <SPI.h>
    #include "RF24.h"

    RF24 myRadio (8, 9);
    byte addresses[6] = {"1Node"};


    int accelgyroscope[3];

    int ax, ay, az;
    int gx, gy, gz;

    int LED_GREEN = A3;
    int LED_RED = A2;


    struct Pack {
      int data1;
      int data2;
      int data3;
      int data4;
      int data5;
      int accx;
      int accy;
      int accz;
      int con1;
      int con2;
      int data11;
      int data22;
      int data33;
      int data44;
      int data55;
      int accxx;
      int accyy;
      int acczz;

    } packet;



    void setup() {
      Serial.begin(9600);

      myRadio.begin();
      myRadio.setChannel(108);
      myRadio.setPALevel(RF24_PA_MIN);
      myRadio.openReadingPipe(1, addresses[0]);
      myRadio.openReadingPipe(2, addresses[1]);
      myRadio.startListening();

      Serial.print("LABEL,F1,F2,F3,F4,F5,X,Y,Z,C1,C2");
      Serial.println();

      pinMode(LED_GREEN, OUTPUT);
      pinMode(LED_RED, OUTPUT);

    }

    void loop() {
      if ( myRadio.available())   {

        analogWrite(LED_GREEN, 1023);
        analogWrite(LED_RED, 0);

        myRadio.read( &packet, sizeof(packet) );

        Serial.print("TRANSMITTER 1:  ");
        Serial.print(", ");
        Serial.print(packet.data1);
        Serial.print(", ");
        Serial.print(packet.data2);
        Serial.print(", ");
        Serial.print(packet.data3);
        Serial.print(", ");
        Serial.print(packet.data4);
        Serial.print(", ");
        Serial.print(packet.data5);

        Serial.print(", ");
        Serial.print(packet.accx);
        Serial.print(", ");

        Serial.print(packet.accy);
        Serial.print(", ");
        Serial.print(packet.accz);
        Serial.print(", ");

        Serial.print(packet.con1);
        Serial.print(", ");
        Serial.print(packet.con2);

        Serial.print("  ");
        Serial.print("TRANSMITTER 2:  ");
        Serial.print(", ");
        Serial.print(packet.data11);
        Serial.print(", ");
        Serial.print(packet.data22);
        Serial.print(", ");
        Serial.print(packet.data33);
        Serial.print(", ");
        Serial.print(packet.data44);
        Serial.print(", ");
        Serial.print(packet.data55);

        Serial.print(", ");
        Serial.print(packet.accxx);
        Serial.print(", ");

        Serial.print(packet.accyy);
        Serial.print(", ");
        Serial.print(packet.acczz);
        Serial.print(", ");

        Serial.println();

      }
      else
      {
        analogWrite(LED_RED, 1023);
        analogWrite(LED_GREEN, 0);
      }



    }

这是我的第一个发射机的代码。

#include <SPI.h> //libraries para sa nrf24l01
#include "RF24.h" //

#include <Wire.h> // MPU-6050 I2C LIBRARY
#include <I2Cdev.h> //
#include <MPU6050.h> //



#define flex_1 A0 //declaring ng variable tsaka pin assignment ng 5 flex sensors
#define flex_2 A1
#define flex_3 A2
#define flex_4 A3
#define flex_5 A6

MPU6050 accelgyro; // variable ng mpu6050

int16_t ax, ay, az; // variables para accelerometer and gyroscope
int16_t gx, gy, gz;

int pinx=2; // pin assignment ng contact sensors
int piny=3;

RF24 myRadio (8, 9); // CSN AT CE PIN ASSIGNMENT
byte addresses[6] = {"1Node"}; // address ng both transmitter and receiver

// structure para masend ng inorder
struct Pack {
  int data1;
  int data2;
  int data3;
  int data4;
  int data5;
  int accx;
  int accy;
  int accz;
  int con1;
  int con2;
} packet;


void setup() {

  Serial.begin(38400); // para magamit ang serial monitor 
  Serial.println(F("RF24/Simple Transmit data Test"));

  Wire.begin(); // 

  accelgyro.initialize(); // para maread ang pin ng mpu6050

  pinMode(pinx, INPUT);
digitalWrite(pinx, HIGH);
pinMode(piny, INPUT);
digitalWrite(piny, HIGH);
/*
    accelgyro.setXAccelOffset(2825);
    accelgyro.setYAccelOffset(457);
    accelgyro.setZAccelOffset(645);
*/
  myRadio.begin(); // nrf24l01
  myRadio.setChannel(108); 
  myRadio.setPALevel(RF24_PA_MIN);
  myRadio.openWritingPipe(addresses[0]);
}

void loop() {
  packet.data1 = analogRead(flex_1); 
  packet.data1=map(packet.data1, 450, 950, 3000, 4000); 
  packet.data2 = analogRead(flex_2);
  packet.data2=map(packet.data2, 450, 950, 3300, 4500);
  packet.data3 = analogRead(flex_3);
  packet.data3=map(packet.data3, 450, 950, 3000, 4000);
  packet.data4 = analogRead(flex_4);
  packet.data4=map(packet.data4, 450, 950, 3000, 4000);
  packet.data5 = analogRead(flex_5);
  packet.data5=map(packet.data5, 450, 950, 3000, 4000);
  packet.accx=ax;
  packet.accy=ay;
  packet.accz=az;
  packet.con1=digitalRead(pinx);
  packet.con2=digitalRead(piny);

  accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);


  if (myRadio.write(&packet, sizeof(packet))) {
    Serial.print(F("flex1 = "));
    Serial.print(packet.data1);
    Serial.print(F(" flex2 = "));

    Serial.print(packet.data2);
    Serial.print(F(" flex3 = "));
    Serial.print(packet.data3);
    Serial.print(F(" flex4 = "));
    Serial.print(packet.data4);
    Serial.print(F(" flex5 = "));
    Serial.print(packet.data5);

    Serial.print(F(" accx = "));
    Serial.print(packet.accx);
    Serial.print(F(" accy = "));
    Serial.print(packet.accy);
    Serial.print(F(" accz = "));
    Serial.print(packet.accz);
    Serial.print(F(" con1 = "));
    Serial.print(packet.con1);
    Serial.print(F(" con2 = "));
    Serial.print(packet.con2);

    Serial.println();
  } 

  else {
    Serial.print(F("Send failed."));
  }

}

这是另一个发送器：

#include <SPI.h> //libraries para sa nrf24l01
#include "RF24.h" //

#include <Wire.h> // MPU-6050 I2C LIBRARY
#include <I2Cdev.h> //
#include <MPU6050.h> //



#define flex_1 A0 //declaring ng variable tsaka pin assignment ng 5 flex sensors
#define flex_2 A1
#define flex_3 A2
#define flex_4 A3
#define flex_5 A6

MPU6050 accelgyro; // variable ng mpu6050

int16_t ax, ay, az; // variables para accelerometer and gyroscope
int16_t gx, gy, gz;

int pinx=2; // pin assignment ng contact sensors
int piny=3;

RF24 myRadio (8, 9); // CSN AT CE PIN ASSIGNMENT
byte addresses[6] = {"1Node"}; // address ng both transmitter and receiver

// structure para masend ng inorder
struct Pack {
  int data11;
  int data22;
  int data33;
  int data44;
  int data55;
  int accxx;
  int accyy;
  int acczz;

} packet1;


void setup() {

  Serial.begin(9600); // para magamit ang serial monitor 
  Serial.println(F("RF24/Simple Transmit data Test"));

  Wire.begin(); // 

  accelgyro.initialize(); // para maread ang pin ng mpu6050

  pinMode(pinx, INPUT);
digitalWrite(pinx, HIGH);
pinMode(piny, INPUT);
digitalWrite(piny, HIGH);
/*
    accelgyro.setXAccelOffset(2825);
    accelgyro.setYAccelOffset(457);
    accelgyro.setZAccelOffset(645);
*/
  myRadio.begin(); // nrf24l01
  myRadio.setChannel(108); 
  myRadio.setPALevel(RF24_PA_MIN);
  myRadio.openWritingPipe(addresses[1]);
}

void loop() {
  packet1.data11 = analogRead(flex_1); 
  packet1.data11=map(packet1.data11, 450, 950, 3000, 4000); 
  packet1.data22 = analogRead(flex_2);
  packet1.data22=map(packet1.data22, 450, 950, 3300, 4500);
  packet1.data33 = analogRead(flex_3);
  packet1.data33=map(packet1.data33, 450, 950, 3000, 4000);
  packet1.data44 = analogRead(flex_4);
  packet1.data44=map(packet1.data44, 450, 950, 3000, 4000);
  packet1.data55 = analogRead(flex_5);
  packet1.data55=map(packet1.data55, 450, 950, 3000, 4000);
  packet1.accxx=ax;
  packet1.accyy=ay;
  packet1.acczz=az;

  accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);


  if (myRadio.write(&packet1, sizeof(packet1))) {
    Serial.print(F("flex1 = "));
    Serial.print(packet1.data11);
    Serial.print(F(" flex2 = "));

    Serial.print(packet1.data22);
    Serial.print(F(" flex3 = "));
    Serial.print(packet1.data33);
    Serial.print(F(" flex4 = "));
    Serial.print(packet1.data44);
    Serial.print(F(" flex5 = "));
    Serial.print(packet1.data55);

    Serial.print(F(" accx = "));
    Serial.print(packet1.accxx);
    Serial.print(F(" accy = "));
    Serial.print(packet1.accyy);
    Serial.print(F(" accz = "));
    Serial.print(packet1.acczz);
    Serial.print(F(" con1 = "));

    Serial.println();
  } 

  else {
    Serial.print(F("Send failed."));
  }

}

看到两个发送器，我使用了不同的地址。但是我不确定我做对了吗。

我的代码和.INO文件的全部内容都可以找到here。非常感谢你。我真的希望能有很多帮助。

Answer 1

您似乎在接收方仅读取一个数据包，并期望它包含两个发送方的数据；但是每个发送器都发送一个单独的数据包。因此，您仅从其中一个发送器（在本例中为发送器1）读取数据，因为这是import java.io.IOException; import java.nio.charset.Charset; import java.util.*; import java.util.concurrent.ConcurrentHashMap; import org.apache.mina.core.session.IdleStatus; import org.apache.mina.core.buffer.IoBuffer; import org.apache.mina.core.future.IoFutureListener; import org.apache.mina.core.service.IoHandler; import org.apache.mina.core.session.IoSession; import org.apache.mina.core.future.WriteFuture; import org.apache.asyncweb.common.HttpRequest; import org.apache.asyncweb.common.HttpResponseStatus; import org.apache.asyncweb.common.MutableHttpResponse; import org.apache.asyncweb.common.DefaultHttpResponse; import org.apache.asyncweb.common.HttpHeaderConstants; public class HttpProtocolHandler implements IoHandler { private static final int CONTENT_PADDING = 0; // 101 private final Map<Integer, IoBuffer> buffers = new ConcurrentHashMap<Integer, IoBuffer>(); private final Timer timer; public HttpProtocolHandler() { timer = new Timer(true); } public void exceptionCaught(IoSession session, Throwable cause) throws Exception { if (!(cause instanceof IOException)) { cause.printStackTrace(); } session.close(); } public Dictionary extractParameters(Map hashParameters){ Dictionary parameters = new Hashtable(); Iterator it = hashParameters.entrySet().iterator(); while (it.hasNext()) { Map.Entry pair = (Map.Entry)it.next(); parameters.put(pair.getKey(), ((ArrayList) pair.getValue()).get(0) ); // it.remove(); // avoids a ConcurrentModificationException } return parameters; } public void messageReceived(IoSession session, Object message) throws Exception { HttpRequest req = (HttpRequest) message; String path = req.getRequestUri().getPath(); //path: /echo String end_point = path; Dictionary parameters = this.extractParameters(req.getParameters()); String response = ""; /* switch (end_point) { case "/io": response= new IOHandler().handleRequest(parameters); break; case "/cpu": response= new CPUHandler().handleRequest(parameters); break; case "/db": response= new DBHandler().handleRequest(parameters); break; case "/memory": response= new MemoryHandler().handleRequest(parameters); break; default: response = "No end point found"; } */ response = "No end point found"; MutableHttpResponse res; // if (path.startsWith("/size/")) { // doDataResponse(session, req); // } else if (path.startsWith("/delay/")) { // doAsynchronousDelayedResponse(session, req); // } else if (path.startsWith("/adelay/")) { // doAsynchronousDelayedResponse(session, req); // } else { res = new DefaultHttpResponse(); IoBuffer bb = IoBuffer.allocate(1024); bb.setAutoExpand(true); bb.putString(response.toString(), Charset.forName("UTF-8").newEncoder()); bb.flip(); res.setContent(bb); // res.setHeader("Pragma", "no-cache"); // res.setHeader("Cache-Control", "no-cache"); res.setStatus(HttpResponseStatus.OK); WriteFuture future = session.write(res); if (!HttpHeaderConstants.VALUE_KEEP_ALIVE.equalsIgnoreCase( res.getHeader( HttpHeaderConstants.KEY_CONNECTION))) { future.addListener(IoFutureListener.CLOSE); } } private void writeResponse(IoSession session, HttpRequest req, MutableHttpResponse res) { res.normalize(req); WriteFuture future = session.write(res); if (!HttpHeaderConstants.VALUE_KEEP_ALIVE.equalsIgnoreCase( res.getHeader( HttpHeaderConstants.KEY_CONNECTION))) { future.addListener(IoFutureListener.CLOSE); } } private void doDataResponse(IoSession session, HttpRequest req) { String path = req.getRequestUri().getPath(); int size = Integer.parseInt(path.substring(path.lastIndexOf('/') + 1)) + CONTENT_PADDING; MutableHttpResponse res = new DefaultHttpResponse(); res.setStatus(HttpResponseStatus.OK); res.setHeader("ETag", "W/\"" + size + "-1164091960000\""); res.setHeader("Last-Modified", "Tue, 31 Nov 2006 06:52:40 GMT"); IoBuffer buf = buffers.get(size); if (buf == null) { buf = IoBuffer.allocate(size); buffers.put(size, buf); } res.setContent(buf.duplicate()); writeResponse(session, req, res); } private void doAsynchronousDelayedResponse(final IoSession session, final HttpRequest req) { String path = req.getRequestUri().getPath(); int delay = Integer.parseInt(path.substring(path.lastIndexOf('/') + 1)); final MutableHttpResponse res = new DefaultHttpResponse(); res.setStatus(HttpResponseStatus.OK); res.setHeader("ETag", "W/\"0-1164091960000\""); res.setHeader("Last-Modified", "Tue, 31 Nov 2006 06:52:40 GMT"); timer.schedule(new TimerTask() { @Override public void run() { writeResponse(session, req, res); } }, delay); } public void messageSent(IoSession session, Object message) throws Exception { } public void sessionClosed(IoSession session) throws Exception { } public void sessionCreated(IoSession session) throws Exception { } public void sessionIdle(IoSession session, IdleStatus status) throws Exception { session.close(); } public void sessionOpened(IoSession session) throws Exception { session.getConfig().setIdleTime(IdleStatus.BOTH_IDLE, 30); } }的默认设置。通过为每个变送器调用available()来检查每个单独管道的可用数据包，其中available(&pipeNum)是对包含分配的管道号的变量的引用。

如何从两个NRF24L01发送器向NRF24L01接收器发送数据？

1 个答案: