first try working module - fail

.vscode/settings.json

@@ -82,6 +82,7 @@
     "cSpell.words": [
         "Ahnung",
         "akku",
+        "ardui",
         "blox",
         "bluedroid",
         "gast",

include/config.h

@@ -33,3 +33,6 @@
 #define UBLOX_GNSS_SPI_CIPO 4
 #define UBLOX_GNSS_SPI_SCK 5
 ///@}
+
+#define RF24_CSN_PIN 18
+#define RF24_CE_PIN 2

lib/ControllPad/controlPad.cpp

@@ -11,41 +11,69 @@
 
 #include "controlPad.h"
 
-ControlPad::ControlPad() {
+ControlPad::ControlPad(SPIClass *spiPort, uint8_t cePin, uint8_t csnPin) {
+    this->radio = new RF24(cePin, csnPin);
 
+    std::cout << "ControlPad::ControlPad: sizeof ControlPadInput in byte: " << sizeof(ControlPadInput) << std::endl;
+
+
+    if (!this->radio->begin(spiPort)) {
+        std::cout << "ControlPad::ControlPad: Error radio->begin!" << std::endl;
+        while(true);
+    }
+
+    // this->radio->setAddressWidth(5);
+    // this->radio->setChannel(7);
+    // this->radio->setDataRate(RF24_1MBPS);
+    // this->radio->setAutoAck(true);
+    // this->radio->enableDynamicPayloads();
+    // this->radio->enableAckPayload();
+    // this->radio->setCRCLength(RF24_CRC_16);
+
+    this->radio->setPALevel(RF24_PA_LOW);
+
+    // this->radio->openWritingPipe(this->address[1]);
+    this->radio->openReadingPipe(0, this->address[0]);
+
+    this->radio->startListening();
+
+    // this->radio->printPrettyDetails(); 
+    this->radio->printPrettyDetails();
 }
 
 bool ControlPad::loop() {
+    this->receiveData();
+
     if (millis() - this->lastLoopMillis < this->loopDelay)
         return false;
     this->lastLoopMillis = millis();
 
-    if(!this->connected)
+    // if(!this->connected)
-        return false;
+    //     return false;
 
-    if (millis() - this->lastMessageReceive > this->disconnectTime) {
+    // if (millis() - this->lastMessageReceive > this->disconnectTime) {
-        this->connected = false;
+    //     this->connected = false;
-        return false;
+    //     return false;
-    }
+    // }
 
-    if (this->menuControl && this->controlInput.buttons > 0 && this->updated)
+    // if (this->menuControl && this->controlInput.buttons > 0 && this->updated)
-        if (!this->firstButtonPress)
+    //     if (!this->firstButtonPress)
-            this->menuControl->printMenu();
+    //         this->menuControl->printMenu();
 
-        if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Left))
+    //     if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Left))
-            this->menuControl->left();
+    //         this->menuControl->left();
-        else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Right))
+    //     else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Right))
-            this->menuControl->right();
+    //         this->menuControl->right();
-        else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Up))
+    //     else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Up))
-            this->menuControl->up();
+    //         this->menuControl->up();
-        else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Down))
+    //     else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Down))
-            this->menuControl->down();
+    //         this->menuControl->down();
-        else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Yes))
+    //     else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Yes))
-            this->menuControl->yes();
+    //         this->menuControl->yes();
-        else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::No))
+    //     else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::No))
-            this->menuControl->no();
+    //         this->menuControl->no();
 
-    this->menuControl->update();
+    // this->menuControl->update();
 
     return true;
 }
@@ -55,3 +83,12 @@ const ControlPadInput * ControlPad::getControlPadDataPtr(uint16_t maxElapsedTime
         return nullptr;
     return &this->controlInput;
 }
+
+void ControlPad::receiveData() {
+    this->radio->startListening();
+    if (this->radio->available()) {
+        ControlPadInput lastInput = this->controlInput;
+        this->radio->read(&this->controlInput, sizeof(ControlPadInput));
+        std::cout << "Data RF24: " << this->controlInput.counter << std::endl;
+    }
+}

lib/ControllPad/controlPad.h

@@ -12,12 +12,16 @@
 #pragma once
 
 #include <menuControl.h>
+#include <nRF24L01.h>
+#include <RF24.h>
+#include <SPI.h>
+// #include <printf.h>
 
 #include "controlPadInput.h"
 
 class ControlPad {
     public:
-        ControlPad();
+        ControlPad(SPIClass *spiPort, uint8_t cePin, uint8_t csnPin);
 
         bool loop();
 
@@ -29,12 +33,17 @@ class ControlPad {
 
     private:
         MenuControl* menuControl = nullptr;
+        RF24* radio;
         ControlPadInput controlInput;
 
+        void receiveData();
+
         bool connected = false;
         bool updated = false;
         bool firstButtonPress = false;
 
+        const uint8_t address[2][6] = { "rover", "ardui" };
+
         uint16_t disconnectTime = 50;
         uint16_t loopDelay = 5;
 

platformio.ini

@@ -24,6 +24,7 @@ lib_deps =
 	bblanchon/ArduinoJson@^6.20.0
 	mprograms/QMC5883LCompass@^1.1.1
 	https://git.kleiax.de/PlatformIO-Libs/Menu.git#v1.0
+	nrf24/RF24@^1.4.5
 upload_port = COM3
 
 [env:release]

src/driveModi/driveManager.cpp

@@ -15,12 +15,11 @@ Modi& operator++(Modi& m, int) {
     return m = (m == Modi::TestMode) ? Modi::Off : static_cast<Modi>(static_cast<int>(m)+1);
 }
 
-DriveManager::DriveManager(MoveControl *moveControl, const ControlPadInput *input, bool wifi) {
+DriveManager::DriveManager(MoveControl *moveControl, SPIClass *spiPort, const ControlPadInput *input, bool wifi) {
     this->moveControl = moveControl;
     this->input = input;
 
-    this->spiPort = new SPIClass(HSPI);
+    this->spiPort = spiPort;
-    spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
     this->navigation = new Navigation(spiPort, UBLOX_GNSS_SPI_CS);
     if (wifi)
         this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);

src/driveModi/driveManager.h

@@ -52,7 +52,7 @@ class DriveManager {
          * 
          * @param moveControl 
          */
-        DriveManager(MoveControl *moveControl, const ControlPadInput *input, bool wifi = false);
+        DriveManager(MoveControl *moveControl, SPIClass *spiPort, const ControlPadInput *input, bool wifi = false);
 
         /**
          * @brief Destroy the Drive Manager object

src/main.cpp

@@ -20,6 +20,7 @@
 #include <iostream>
 #include <Wire.h>
 #include <LiquidCrystal_I2C.h>
+#include <SPI.h>
 
 #include "driveModi/driveManager.h"
 #include "OutputBuf/outputBuf.h"
@@ -50,6 +51,7 @@ LcdWrapper* lcdWrapper;
 OutputBuf* outputBuf;
 DebugMqtt* debugMqtt = nullptr;
 Battery* mainBattery;
+SPIClass* spiPort;
 ControlPad* controlPad;
 
 bool wifiIsActive;
@@ -65,8 +67,11 @@ void setup() {
     DebugTimes setupTime;
     char wifiIndicator = 'X';
 
+    spiPort = new SPIClass(HSPI);
+    spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
+
     mainBattery = new Battery(35, 692000, 218500);
-    controlPad = new ControlPad();
+    controlPad = new ControlPad(spiPort, RF24_CE_PIN, RF24_CSN_PIN);
     controlPad->setMenuControl(main_m);
 
     Wire.begin(21, 19);
@@ -97,7 +102,7 @@ void setup() {
     std::cout << "Welcome to Kleiax-Rover" << std::endl;
     std::cout << "All actions from the main program run on Core -> " << xPortGetCoreID() << std::endl;
 
-    driveManager = new DriveManager(&moveController, controlPad->getControlPadDataPtr(), wifiIsActive);
+    driveManager = new DriveManager(&moveController, spiPort, controlPad->getControlPadDataPtr(), wifiIsActive);
 
     outputBuf->activateMqtt(false);