- Fixed some connectivity issues with the NRF (likely because of low quality chips)

- Added a distinction between unicast and broadcast. Broadcasts are received and sent without auto acknowledge and on the address ending in FF

include/communication/communicationboundary/NRF24Configuration.hpp

@@ -18,8 +18,6 @@ struct NRFConfiguration {
     bool enable_dynamic_payload_length;
     /// Static payload length (currently unneeded since static payload is unsupported)
     uint8_t payload_size;
-    /// Have the NRF module automatically acknowledge incoming messages (needs to match the controller's setting)
-    bool enable_autoack;
     /// CE pin the NRF is connected to
     uint8_t pin_ce;
     /// CSN pin the NRF is connected to

include/core/communication/Response.hpp

@@ -10,11 +10,11 @@
  */
 enum class SuccessCode : uint8_t {
     /// The requested action was performed successfully
-    SUCCESS        = 0,
+    SUCCESS = 0,
     /// Special case: Action started is used when the robot cannot immediately send a response. The robot does not send this code
     ACTION_STARTED = 1,
     /// The robot cannot handle the command because it was busy with another action
-    ROBOT_BUSY     = 2,
+    ROBOT_BUSY = 2,
     /// Performing the requested action was impossible due to a hardware error
     HARDWARE_ERROR = 3,
     /// A reading was requested for a sensor that doesn't exist
@@ -28,7 +28,9 @@ enum class SuccessCode : uint8_t {
     /// The command requested is unknown
     UNKNOWN_COMMAND = 8,
     /// Do not send a response for this command
-    NO_RESPONSE = 9
+    NO_RESPONSE = 9,
+    /// Sent when a robot is already registered to a robot id
+    ID_ALREADY_SET = 10
 
 };
 
@@ -37,29 +39,29 @@ enum class SuccessCode : uint8_t {
  */
 struct Response {
     /// The message id of the original Command. This can be used to match a response to a sent command on the other side
-    uint8_t     message_id;
+    uint8_t message_id;
     /// ReturnCode for the message
     SuccessCode successCode;
     /// (Optional) the data returned from the Command
-    uint8_t     data[4];
+    uint8_t data[4];
     /// Size of the data returned
-    uint8_t   data_size;
+    uint8_t data_size;
+    /// Should the message be broadcast or unicast?
+    bool broadcast = false;
 
     /**
      * Create a Response object
      */
-    Response(uint8_t messageId, SuccessCode returnCode, uint8_t data_length = 0, const uint8_t *dat = nullptr);
+    Response(uint8_t messageId, SuccessCode returnCode, uint8_t data_length = 0, const uint8_t *dat = nullptr, bool _broadcast = false);
 
     /**
      * Create a Response object
      */
-    Response(SuccessCode returnCode, uint8_t data_length = 0, const uint8_t *dat = nullptr);
+    Response(SuccessCode returnCode, uint8_t data_length = 0, const uint8_t *dat = nullptr, bool _broadcast = false);
 
     /**
      * Get the byte size of this command
      * @return Total size of the command in bytes
      */
-    uint8_t size() const {
-        return 2 + data_size;
-    }
+    uint8_t size() const;
 };

src/communication/commandcontroller/CommandController_General.cpp

@@ -10,11 +10,14 @@ Response CommandController_General::handle(const Command &cmd, ResponseCallback
             break;
         case SET_ID:
             if(pmsvSettings.robot_id != 0) {
+                if(pmsvSettings.robot_id == cmd.parameters[0]) {
+                    return {cmd.message_id, SuccessCode::ID_ALREADY_SET, 0, nullptr, true};
+                }
                 return {cmd.message_id, SuccessCode::NO_RESPONSE};
             }
             pmsvSettings.robot_id = cmd.parameters[0];
             configRobotId.store();
-            Response res{cmd.message_id, SuccessCode::SUCCESS};
+            Response res{cmd.message_id, SuccessCode::SUCCESS, 0, nullptr, true};
             callback(res);
             rstc_start_software_reset(RSTC);
     }

src/communication/method/NRF24CommunicationBoundary.cpp

@@ -5,7 +5,14 @@ NRF24CommunicationBoundary::NRF24CommunicationBoundary(NRFConfiguration &_config
         : config(_config),
           settings(settings), nrfRadio(config.pin_ce, config.pin_csn) {
     nrfRadio.begin();
+
+
+    for (int i = 0; i < 5; i++) {
+        nrfRadio.closeReadingPipe(i);
+    }
+
     nrfRadio.setPALevel(config.palevel);
+    nrfRadio.setDataRate(RF24_250KBPS);
 
 
     if (config.enable_dynamic_payload_length) {
@@ -15,27 +22,47 @@ NRF24CommunicationBoundary::NRF24CommunicationBoundary(NRFConfiguration &_config
         nrfRadio.setPayloadSize(config.payload_size);
     }
 
-    nrfRadio.setAutoAck(config.enable_autoack);
+    nrfRadio.setRetries(15, 15);
 
     nrfRadio.setChannel(config.channel);
 
     const uint64_t base_address_mask = 0x000000FFu;
 
-    nrfRadio.openReadingPipe(1, config.base_reading_pipe & ~base_address_mask);
-    nrfRadio.openReadingPipe(2, (config.base_reading_pipe & ~base_address_mask) | settings.robot_id);
-    nrfRadio.openWritingPipe((config.base_writing_pipe & ~base_address_mask) | settings.robot_id);
-
+    if (settings.robot_id != 0) {
+        nrfRadio.openReadingPipe(0, config.base_reading_pipe);
+        nrfRadio.openReadingPipe(1, (config.base_reading_pipe & ~base_address_mask) | settings.robot_id);
+        nrfRadio.setAutoAck(true);
+        nrfRadio.setAutoAck(0, false);
+    } else {
+        nrfRadio.openReadingPipe(0, config.base_reading_pipe);
+        nrfRadio.setAutoAck(false);
+    }
     nrfRadio.powerUp();
+    nrfRadio.startListening();
 
     nrfRadio.printDetails();
-    nrfRadio.startListening();
 }
 
 
 bool NRF24CommunicationBoundary::sendMessage(const Response &message) {
     nrfRadio.stopListening();
+    const uint64_t base_address_mask = 0x000000FFu;
+    if(message.broadcast) {
+        nrfRadio.openWritingPipe(config.base_writing_pipe);
+    } else {
+        nrfRadio.openWritingPipe((config.base_reading_pipe & ~base_address_mask) | settings.robot_id);
+        nrfRadio.setAutoAck(0, true);
+    }
+
     bool sendStatus = nrfRadio.write(&message, message.size());
+
+    if(!message.broadcast) {
+        nrfRadio.setAutoAck(0, false);
+    }
+
     nrfRadio.startListening();
+    Serial.println(sendStatus);
+
     return sendStatus;
 }
 

src/core/communication/Response.cpp

 #include <core/communication/Response.hpp>
 #include <cstddef>
 
-Response::Response(uint8_t messageId, SuccessCode returnCode, uint8_t data_length, const uint8_t *dat)
+Response::Response(uint8_t messageId, SuccessCode returnCode, uint8_t data_length, const uint8_t *dat, bool _broadcast)
         : message_id(messageId),
-          successCode(returnCode) {
+          successCode(returnCode), broadcast(_broadcast) {
     for (size_t i = 0; i < 4; i++) {
         data[i] = dat[i];
     }
 }
 
-Response::Response(SuccessCode returnCode, uint8_t data_length, const uint8_t *dat): Response(0, returnCode, data_length, dat) {
+Response::Response(SuccessCode returnCode, uint8_t data_length, const uint8_t *dat, bool _broadcast): Response(0, returnCode, data_length, dat, _broadcast) {
 
 }
+
+uint8_t Response::size() const {
+    return 2 + data_size;
+}

src/main.cpp

@@ -21,7 +21,7 @@
 ////##################################################################   Configuration ###################################
 PMSVSettings default_settings{
         0,
-        1.434684f,
+        1.9f,
         1.4545f,
         0,
         180
@@ -38,19 +38,17 @@ auto c_max_speed = registerConfig("MAX_SPEED", default_settings.max_speed);
 
 NRFConfiguration nrf_config{
         RF24_PA_MAX,
-        50,
-        0xE0E0F1F1E4LL,
-        0xE0E0F1F1E4LL,
+        0x10,
+        0xE0E0F1F1FFLL,
+        0xE0E0F1F1FFLL,
         true,
         32,
-        true,
         5,
         4
 };
 
 auto c_nrf_channel = registerConfig("NRF_CHANNEL", nrf_config.channel);
 auto c_nrf_dynamicpayload = registerConfig("NRF_ENABLE_DYNAMICPAYLOAD", nrf_config.enable_dynamic_payload_length);
-auto c_nrf_autoack = registerConfig("NRF_ENABLE_AUTOACK", nrf_config.enable_autoack);
 auto c_nrf_pin_ce = registerConfig("NRF_PIN_CE", nrf_config.pin_ce);
 auto c_nrf_pin_csn = registerConfig("NRF_PIN_CSN", nrf_config.pin_csn);
 
@@ -112,7 +110,6 @@ std::reference_wrapper<BaseConfigurationValue> configurationValues[]{
         c_max_speed,
         c_nrf_channel,
         c_nrf_dynamicpayload,
-        c_nrf_autoack,
         c_nrf_pin_ce,
         c_nrf_pin_csn,
         c_leftmotor_pin_ms1,
@@ -182,5 +179,5 @@ void setup() {
 
 void loop() {
 }
-//
-//
+
+