Library for HopeRF RFM22 / RFM22B transceiver module ported to mbed. Original Software from Mike McCauley (mikem@open.com.au) . See http://www.open.com.au/mikem/arduino/RF22/
Dependents: RF22_MAX_test_Send Geofence_receiver Geofence_sender Geofence_sender ... more
More Info about RFM22-modules like connecting and a demo-program see RF22-Notebook
Revision 0:79c6d0071c4c, committed 2012-02-14
- Comitter:
- charly
- Date:
- Tue Feb 14 19:39:36 2012 +0000
- Child:
- 1:813d4f57d630
- Commit message:
- Initial Port - Quick and Dirty !!!
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22.cpp Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,739 @@ +// RF22.cpp +// +// Copyright (C) 2011 Mike McCauley +// $Id: RF22.cpp,v 1.13 2011/10/09 21:22:24 mikem Exp mikem $ +// ported to mbed by Karl Zweimueller + + +#include "mbed.h" +#include "RF22.h" +//#include <SPI.h> + + +// Interrupt vectors for the 2 Arduino interrupt pins +// Each interrupt can be handled by a different instance of RF22, allowing you to have +// 2 RF22s per Arduino +//RF22* RF22::_RF22ForInterrupt[2] = {0, 0}; + +// These are indexed by the values of ModemConfigChoice +// Canned modem configurations generated with +// 'http://www.hoperf.com/upfile/RF22B 23B 31B 42B 43B Register Settings_RevB1-v5.xls' +// Stored in flash (program) memory to save SRAM +/*PROGMEM */ static const RF22::ModemConfig MODEM_CONFIG_TABLE[] = +{ + { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x00, 0x08 }, // Unmodulated carrier + { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x33, 0x08 }, // FSK, PN9 random modulation, 2, 5 + + // 1c, 1f, 20, 21, 22, 23, 24, 25, 2c, 2d, 2e, 58, 69, 6e, 6f, 70, 71, 72 + // FSK, No Manchester, Max Rb err <1%, Xtal Tol 20ppm + { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x22, 0x08 }, // 2, 5 + { 0x1b, 0x03, 0x41, 0x60, 0x27, 0x52, 0x00, 0x07, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x22, 0x3a }, // 2.4, 36 + { 0x1d, 0x03, 0xa1, 0x20, 0x4e, 0xa5, 0x00, 0x13, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x27, 0x52, 0x2c, 0x22, 0x48 }, // 4.8, 45 + { 0x1e, 0x03, 0xd0, 0x00, 0x9d, 0x49, 0x00, 0x45, 0x40, 0x0a, 0x20, 0x80, 0x60, 0x4e, 0xa5, 0x2c, 0x22, 0x48 }, // 9.6, 45 + { 0x2b, 0x03, 0x34, 0x02, 0x75, 0x25, 0x07, 0xff, 0x40, 0x0a, 0x1b, 0x80, 0x60, 0x9d, 0x49, 0x2c, 0x22, 0x0f }, // 19.2, 9.6 + { 0x02, 0x03, 0x68, 0x01, 0x3a, 0x93, 0x04, 0xd5, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x09, 0xd5, 0x0c, 0x22, 0x1f }, // 38.4, 19.6 + { 0x06, 0x03, 0x45, 0x01, 0xd7, 0xdc, 0x07, 0x6e, 0x40, 0x0a, 0x2d, 0x80, 0x60, 0x0e, 0xbf, 0x0c, 0x22, 0x2e }, // 57.6. 28.8 + { 0x8a, 0x03, 0x60, 0x01, 0x55, 0x55, 0x02, 0xad, 0x40, 0x0a, 0x50, 0x80, 0x60, 0x20, 0x00, 0x0c, 0x22, 0xc8 }, // 125, 125 + + // GFSK, No Manchester, Max Rb err <1%, Xtal Tol 20ppm + // These differ from FSK only in register 71, for the modulation type + { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x23, 0x08 }, // 2, 5 + { 0x1b, 0x03, 0x41, 0x60, 0x27, 0x52, 0x00, 0x07, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x23, 0x3a }, // 2.4, 36 + { 0x1d, 0x03, 0xa1, 0x20, 0x4e, 0xa5, 0x00, 0x13, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x27, 0x52, 0x2c, 0x23, 0x48 }, // 4.8, 45 + { 0x1e, 0x03, 0xd0, 0x00, 0x9d, 0x49, 0x00, 0x45, 0x40, 0x0a, 0x20, 0x80, 0x60, 0x4e, 0xa5, 0x2c, 0x23, 0x48 }, // 9.6, 45 + { 0x2b, 0x03, 0x34, 0x02, 0x75, 0x25, 0x07, 0xff, 0x40, 0x0a, 0x1b, 0x80, 0x60, 0x9d, 0x49, 0x2c, 0x23, 0x0f }, // 19.2, 9.6 + { 0x02, 0x03, 0x68, 0x01, 0x3a, 0x93, 0x04, 0xd5, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x09, 0xd5, 0x0c, 0x23, 0x1f }, // 38.4, 19.6 + { 0x06, 0x03, 0x45, 0x01, 0xd7, 0xdc, 0x07, 0x6e, 0x40, 0x0a, 0x2d, 0x80, 0x60, 0x0e, 0xbf, 0x0c, 0x23, 0x2e }, // 57.6. 28.8 + { 0x8a, 0x03, 0x60, 0x01, 0x55, 0x55, 0x02, 0xad, 0x40, 0x0a, 0x50, 0x80, 0x60, 0x20, 0x00, 0x0c, 0x23, 0xc8 }, // 125, 125 + + // OOK, No Manchester, Max Rb err <1%, Xtal Tol 20ppm + { 0x51, 0x03, 0x68, 0x00, 0x3a, 0x93, 0x01, 0x3d, 0x2c, 0x11, 0x28, 0x80, 0x60, 0x09, 0xd5, 0x2c, 0x21, 0x08 }, // 1.2, 75 + { 0xc8, 0x03, 0x39, 0x20, 0x68, 0xdc, 0x00, 0x6b, 0x2a, 0x08, 0x2a, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x21, 0x08 }, // 2.4, 335 + { 0xc8, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x29, 0x04, 0x29, 0x80, 0x60, 0x27, 0x52, 0x2c, 0x21, 0x08 }, // 4.8, 335 + { 0xb8, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x28, 0x82, 0x29, 0x80, 0x60, 0x4e, 0xa5, 0x2c, 0x21, 0x08 }, // 9.6, 335 + { 0xa8, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x28, 0x41, 0x29, 0x80, 0x60, 0x9d, 0x49, 0x2c, 0x21, 0x08 }, // 19.2, 335 + { 0x98, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x28, 0x20, 0x29, 0x80, 0x60, 0x09, 0xd5, 0x0c, 0x21, 0x08 }, // 38.4, 335 + { 0x98, 0x03, 0x96, 0x00, 0xda, 0x74, 0x00, 0xdc, 0x28, 0x1f, 0x29, 0x80, 0x60, 0x0a, 0x3d, 0x0c, 0x21, 0x08 }, // 40, 335 + +}; + +RF22::RF22(PinName slaveSelectPin, PinName mosi, PinName miso, PinName sclk, PinName interrupt) + : _slaveSelectPin(slaveSelectPin), _spi(mosi, miso, sclk), _interrupt(interrupt), led1(LED1), led2(LED2), led3(LED3), led4(LED4) +{ + + + _idleMode = RF22_XTON; // Default idle state is READY mode + _mode = RF22_MODE_IDLE; // We start up in idle mode + _rxGood = 0; + _rxBad = 0; + _txGood = 0; + + +} + +boolean RF22::init() +{ + // Wait for RF22 POR (up to 16msec) + //delay(16); + wait_ms(16); + + // Initialise the slave select pin + //pinMode(_slaveSelectPin, OUTPUT); + //digitalWrite(_slaveSelectPin, HIGH); + _slaveSelectPin = 1; + + wait_ms(100); + + // start the SPI library: + // Note the RF22 wants mode 0, MSB first and default to 1 Mbps + /*SPI.begin(); + SPI.setDataMode(SPI_MODE0); + SPI.setBitOrder(MSBFIRST); + SPI.setClockDivider(SPI_CLOCK_DIV16); // (16 Mhz / 16) = 1 MHz + */ + + // Setup the spi for 8 bit data : 1RW-bit 7 adressbit and 8 databit + // second edge capture, with a 10MHz clock rate + _spi.format(8,0); + _spi.frequency(10000000); + + // Software reset the device + reset(); + + // Get the device type and check it + // This also tests whether we are really connected to a device + _deviceType = spiRead(RF22_REG_00_DEVICE_TYPE); + if ( _deviceType != RF22_DEVICE_TYPE_RX_TRX + && _deviceType != RF22_DEVICE_TYPE_TX) + return false; + + // Set up interrupt handler +// if (_interrupt == 0) +// { + //_RF22ForInterrupt[0] = this; + //attachInterrupt(0, RF22::isr0, LOW); + _interrupt.fall(this, &RF22::isr0); +/* } + else if (_interrupt == 1) + { + _RF22ForInterrupt[1] = this; + attachInterrupt(1, RF22::isr1, LOW); + } + else + return false; +*/ + clearTxBuf(); + clearRxBuf(); + + // Most of these are the POR default + spiWrite(RF22_REG_7D_TX_FIFO_CONTROL2, RF22_TXFFAEM_THRESHOLD); + spiWrite(RF22_REG_7E_RX_FIFO_CONTROL, RF22_RXFFAFULL_THRESHOLD); + spiWrite(RF22_REG_30_DATA_ACCESS_CONTROL, RF22_ENPACRX | RF22_ENPACTX | RF22_ENCRC | RF22_CRC_CRC_16_IBM); + // Configure the message headers + // Here we set up the standard packet format for use by the RF22 library + // 8 nibbles preamble + // 2 SYNC words 2d, d4 + // Header length 4 (to, from, id, flags) + // 1 octet of data length (0 to 255) + // 0 to 255 octets data + // 2 CRC octets as CRC16(IBM), computed on the header, length and data + // On reception the to address is check for validity against RF22_REG_3F_CHECK_HEADER3 + // or the broadcast address of 0xff + // If no changes are made after this, the transmitted + // to address will be 0xff, the from address will be 0xff + // and all such messages will be accepted. This permits the out-of the box + // RF22 config to act as an unaddresed, unreliable datagram service + spiWrite(RF22_REG_32_HEADER_CONTROL1, RF22_BCEN_HEADER3 | RF22_HDCH_HEADER3); + spiWrite(RF22_REG_33_HEADER_CONTROL2, RF22_HDLEN_4 | RF22_SYNCLEN_2); + setPreambleLength(8); + uint8_t syncwords[] = { 0x2d, 0xd4 }; + setSyncWords(syncwords, sizeof(syncwords)); + setPromiscuous(false); + // Check the TO header against RF22_DEFAULT_NODE_ADDRESS + spiWrite(RF22_REG_3F_CHECK_HEADER3, RF22_DEFAULT_NODE_ADDRESS); + // Set the default transmit header values + setHeaderTo(RF22_DEFAULT_NODE_ADDRESS); + setHeaderFrom(RF22_DEFAULT_NODE_ADDRESS); + setHeaderId(0); + setHeaderFlags(0); + + // Ensure the antenna can be switched automatically according to transmit and receive + // This assumes GPIO0(out) is connected to TX_ANT(in) to enable tx antenna during transmit + // This assumes GPIO1(out) is connected to RX_ANT(in) to enable rx antenna during receive + spiWrite (RF22_REG_0B_GPIO_CONFIGURATION0, 0x12) ; // TX state + spiWrite (RF22_REG_0C_GPIO_CONFIGURATION1, 0x15) ; // RX state + + // Enable interrupts + spiWrite(RF22_REG_05_INTERRUPT_ENABLE1, RF22_ENTXFFAEM | RF22_ENRXFFAFULL | RF22_ENPKSENT | RF22_ENPKVALID | RF22_ENCRCERROR | RF22_ENFFERR); + spiWrite(RF22_REG_06_INTERRUPT_ENABLE2, RF22_ENPREAVAL); + + // Set some defaults. An innocuous ISM frequency + setFrequency(868.0); +// setFrequency(434.0); +// setFrequency(900.0); + // Some slow, reliable default speed and modulation + setModemConfig(FSK_Rb2_4Fd36); +// setModemConfig(FSK_Rb125Fd125); + // Minimum power + setTxPower(RF22_TXPOW_8DBM); +// setTxPower(RF22_TXPOW_17DBM); + + return true; +} + +// C++ level interrupt handler for this instance +void RF22::handleInterrupt() +{ + uint8_t _lastInterruptFlags[2]; + +led1 = !led1; + + // Read the interrupt flags which clears the interrupt + spiBurstRead(RF22_REG_03_INTERRUPT_STATUS1, _lastInterruptFlags, 2); + +#if 0 + pc.print("interrupt "); + Serial.print(_lastInterruptFlags[0], HEX); + Serial.print(" "); + Serial.println(_lastInterruptFlags[1], HEX); + if (_lastInterruptFlags[0] == 0 && _lastInterruptFlags[1] == 0) + Serial.println("FUNNY: no interrupt!"); +#endif + +/* + // TESTING: fake an RF22_IFFERROR + static int counter = 0; + if (_lastInterruptFlags[0] & RF22_IPKSENT && counter++ == 10) + { + _lastInterruptFlags[0] = RF22_IFFERROR; + counter = 0; + } +*/ + + if (_lastInterruptFlags[0] & RF22_IFFERROR) + { +// Serial.println("IFFERROR"); + resetFifos(); // Clears the interrupt + if (_mode == RF22_MODE_TX) + restartTransmit(); + else if (_mode == RF22_MODE_RX) + clearRxBuf(); + } + // Caution, any delay here may cause a FF underflow or overflow + if (_lastInterruptFlags[0] & RF22_ITXFFAEM) + { + // See if more data has to be loaded into the Tx FIFO + sendNextFragment(); +// Serial.println("TXFFAEM"); + } + if (_lastInterruptFlags[0] & RF22_IRXFFAFULL) + { + // Caution, any delay here may cause a FF overflow + // Read some data from the Rx FIFO + readNextFragment(); +// Serial.println("IRXFFAFULL"); + } + if (_lastInterruptFlags[0] & RF22_IEXT) + { + // This is not enabled by the base code, but users may want to enable it + handleExternalInterrupt(); +// Serial.println("IEXT"); + } + if (_lastInterruptFlags[1] & RF22_IWUT) + { + // This is not enabled by the base code, but users may want to enable it + handleWakeupTimerInterrupt(); +// Serial.println("IWUT"); + } + if (_lastInterruptFlags[0] & RF22_IPKSENT) + { +// Serial.println("PKSENT"); + _txGood++; + led4 = !led4; + // Transmission does not automatically clear the tx buffer. + // Could retransmit if we wanted + _txPacketSent = true; + // RF22 transitions automatically to Idle + _mode = RF22_MODE_IDLE; + } + if (_lastInterruptFlags[0] & RF22_IPKVALID) + { +// Serial.println("IPKVALID"); + uint8_t len = spiRead(RF22_REG_4B_RECEIVED_PACKET_LENGTH); + // May have already read one or more fragments + // Get any remaining unread octets, based on the expected length + len -= _bufLen; + spiBurstRead(RF22_REG_7F_FIFO_ACCESS, _buf + _bufLen, len); + _rxGood++; + led3 = !led3; + _bufLen += len; + _mode = RF22_MODE_IDLE; + _rxBufValid = true; + } + if (_lastInterruptFlags[0] & RF22_ICRCERROR) + { +// Serial.println("ICRCERR"); + _rxBad++; + led2 = !led2; + clearRxBuf(); + resetRxFifo(); + _mode = RF22_MODE_IDLE; + setModeRx(); // Keep trying + } + if (_lastInterruptFlags[1] & RF22_ENPREAVAL) + { +// Serial.println("ENPREAVAL"); + _lastRssi = spiRead(RF22_REG_26_RSSI); + clearRxBuf(); + } +} + +// These are low level functions that call the interrupt handler for the correct +// instance of RF22. +// 2 interrupts allows us to have 2 different devices +void RF22::isr0() +{ + //if (_RF22ForInterrupt[0]) + //_RF22ForInterrupt[0]->handleInterrupt(); + handleInterrupt(); +} +/* +void RF22::isr1() +{ + if (_RF22ForInterrupt[1]) + _RF22ForInterrupt[1]->handleInterrupt(); +} +*/ +void RF22::reset() +{ + spiWrite(RF22_REG_07_OPERATING_MODE1, RF22_SWRES); + // Wait for it to settle + //delay(1); // SWReset time is nominally 100usec + wait_ms(1); +} + +uint8_t RF22::spiRead(uint8_t reg) +{ + //digitalWrite(_slaveSelectPin, LOW); + _slaveSelectPin=0; + //_spi.write(reg & ~RF22_SPI_WRITE_MASK); // Send the address with the write mask off + _spi.write(reg & ~RF22_SPI_WRITE_MASK); // Send the address with the write mask off + uint8_t val = _spi.write(0); // The written value is ignored, reg value is read + //digitalWrite(_slaveSelectPin, HIGH); + _slaveSelectPin = 1; + return val; +} + +void RF22::spiWrite(uint8_t reg, uint8_t val) +{ + //digitalWrite(_slaveSelectPin, LOW); + _slaveSelectPin = 0; + _spi.write(reg | RF22_SPI_WRITE_MASK); // Send the address with the write mask on + _spi.write(val); // New value follows + //digitalWrite(_slaveSelectPin, HIGH); + _slaveSelectPin = 1; +} + +void RF22::spiBurstRead(uint8_t reg, uint8_t* dest, uint8_t len) +{ + //digitalWrite(_slaveSelectPin, LOW); + _slaveSelectPin = 0; + _spi.write(reg & ~RF22_SPI_WRITE_MASK); // Send the start address with the write mask off + while (len--) + *dest++ = _spi.write(0); + //digitalWrite(_slaveSelectPin, HIGH); + _slaveSelectPin = 1; +} + +void RF22::spiBurstWrite(uint8_t reg, uint8_t* src, uint8_t len) +{ + //digitalWrite(_slaveSelectPin, LOW); + _slaveSelectPin = 0; + _spi.write(reg | RF22_SPI_WRITE_MASK); // Send the start address with the write mask on + while (len--) + _spi.write(*src++); + //digitalWrite(_slaveSelectPin, HIGH); + _slaveSelectPin = 1; +} + +uint8_t RF22::statusRead() +{ + return spiRead(RF22_REG_02_DEVICE_STATUS); +} + +uint8_t RF22::adcRead(uint8_t adcsel, + uint8_t adcref , + uint8_t adcgain, + uint8_t adcoffs) +{ + uint8_t configuration = adcsel | adcref | (adcgain & RF22_ADCGAIN); + spiWrite(RF22_REG_0F_ADC_CONFIGURATION, configuration | RF22_ADCSTART); + spiWrite(RF22_REG_10_ADC_SENSOR_AMP_OFFSET, adcoffs); + + // Conversion time is nominally 305usec + // Wait for the DONE bit + while (!(spiRead(RF22_REG_0F_ADC_CONFIGURATION) & RF22_ADCDONE)) + ; + // Return the value + return spiRead(RF22_REG_11_ADC_VALUE); +} + +uint8_t RF22::temperatureRead(uint8_t tsrange, uint8_t tvoffs) +{ + spiWrite(RF22_REG_12_TEMPERATURE_SENSOR_CALIBRATION, tsrange | RF22_ENTSOFFS); + spiWrite(RF22_REG_13_TEMPERATURE_VALUE_OFFSET, tvoffs); + return adcRead(RF22_ADCSEL_INTERNAL_TEMPERATURE_SENSOR | RF22_ADCREF_BANDGAP_VOLTAGE); +} + +uint16_t RF22::wutRead() +{ + uint8_t buf[2]; + spiBurstRead(RF22_REG_17_WAKEUP_TIMER_VALUE1, buf, 2); + return ((uint16_t)buf[0] << 8) | buf[1]; // Dont rely on byte order +} + +// RFM-22 doc appears to be wrong: WUT for wtm = 10000, r, = 0, d = 0 is about 1 sec +void RF22::setWutPeriod(uint16_t wtm, uint8_t wtr, uint8_t wtd) +{ + uint8_t period[3]; + + period[0] = ((wtr & 0xf) << 2) | (wtd & 0x3); + period[1] = wtm >> 8; + period[2] = wtm & 0xff; + spiBurstWrite(RF22_REG_14_WAKEUP_TIMER_PERIOD1, period, sizeof(period)); +} + +// Returns true if centre + (fhch * fhs) is within limits +// Caution, different versions of the RF22 suport different max freq +// so YMMV +boolean RF22::setFrequency(float centre) +{ + uint8_t fbsel = RF22_SBSEL; + if (centre < 240.0 || centre > 960.0) // 930.0 for early silicon + return false; + if (centre >= 480.0) + { + centre /= 2; + fbsel |= RF22_HBSEL; + } + centre /= 10.0; + float integerPart = floor(centre); + float fractionalPart = centre - integerPart; + + uint8_t fb = (uint8_t)integerPart - 24; // Range 0 to 23 + fbsel |= fb; + uint16_t fc = fractionalPart * 64000; + spiWrite(RF22_REG_73_FREQUENCY_OFFSET1, 0); // REVISIT + spiWrite(RF22_REG_74_FREQUENCY_OFFSET2, 0); + spiWrite(RF22_REG_75_FREQUENCY_BAND_SELECT, fbsel); + spiWrite(RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1, fc >> 8); + spiWrite(RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0, fc & 0xff); + return !(statusRead() & RF22_FREQERR); +} + +// Step size in 10kHz increments +// Returns true if centre + (fhch * fhs) is within limits +boolean RF22::setFHStepSize(uint8_t fhs) +{ + spiWrite(RF22_REG_7A_FREQUENCY_HOPPING_STEP_SIZE, fhs); + return !(statusRead() & RF22_FREQERR); +} + +// Adds fhch * fhs to centre frequency +// Returns true if centre + (fhch * fhs) is within limits +boolean RF22::setFHChannel(uint8_t fhch) +{ + spiWrite(RF22_REG_79_FREQUENCY_HOPPING_CHANNEL_SELECT, fhch); + return !(statusRead() & RF22_FREQERR); +} + +uint8_t RF22::rssiRead() +{ + return spiRead(RF22_REG_26_RSSI); +} + +uint8_t RF22::ezmacStatusRead() +{ + return spiRead(RF22_REG_31_EZMAC_STATUS); +} + +void RF22::setMode(uint8_t mode) +{ + spiWrite(RF22_REG_07_OPERATING_MODE1, mode); +} + +void RF22::setModeIdle() +{ + if (_mode != RF22_MODE_IDLE) + { + setMode(_idleMode); + _mode = RF22_MODE_IDLE; + } +} + +void RF22::setModeRx() +{ + if (_mode != RF22_MODE_RX) + { + setMode(_idleMode | RF22_RXON); + _mode = RF22_MODE_RX; + } +} + +void RF22::setModeTx() +{ + if (_mode != RF22_MODE_TX) + { + setMode(_idleMode | RF22_TXON); + _mode = RF22_MODE_TX; + } +} + +void RF22::setTxPower(uint8_t power) +{ + spiWrite(RF22_REG_6D_TX_POWER, power); +} + +// Sets registers from a canned modem configuration structure +void RF22::setModemRegisters(ModemConfig* config) +{ + spiWrite(RF22_REG_1C_IF_FILTER_BANDWIDTH, config->reg_1c); + spiWrite(RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE, config->reg_1f); + spiBurstWrite(RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE, &config->reg_20, 6); + spiBurstWrite(RF22_REG_2C_OOK_COUNTER_VALUE_1, &config->reg_2c, 3); + spiWrite(RF22_REG_58_CHARGE_PUMP_CURRENT_TRIMMING, config->reg_58); + spiWrite(RF22_REG_69_AGC_OVERRIDE1, config->reg_69); + spiBurstWrite(RF22_REG_6E_TX_DATA_RATE1, &config->reg_6e, 5); +} + +// Set one of the canned FSK Modem configs +// Returns true if its a valid choice +boolean RF22::setModemConfig(ModemConfigChoice index) +{ + if (index > (sizeof(MODEM_CONFIG_TABLE) / sizeof(ModemConfig))) + return false; + + RF22::ModemConfig cfg; + memcpy(&cfg, &MODEM_CONFIG_TABLE[index], sizeof(RF22::ModemConfig)); + setModemRegisters(&cfg); + + return true; +} + +// REVISIT: top bit is in Header Control 2 0x33 +void RF22::setPreambleLength(uint8_t nibbles) +{ + spiWrite(RF22_REG_34_PREAMBLE_LENGTH, nibbles); +} + +// Caution doesnt set sync word len in Header Control 2 0x33 +void RF22::setSyncWords(uint8_t* syncWords, uint8_t len) +{ + spiBurstWrite(RF22_REG_36_SYNC_WORD3, syncWords, len); +} + +void RF22::clearRxBuf() +{ + _bufLen = 0; + _rxBufValid = false; +} + +boolean RF22::available() +{ + setModeRx(); + return _rxBufValid; +} + +// Blocks until a valid message is received +void RF22::waitAvailable() +{ + while (!available()) + ; +} + +// Blocks until a valid message is received or timeout expires +// Return true if there is a message available +bool RF22::waitAvailableTimeout(uint16_t timeout) +{ + Timer t; + t.start(); + unsigned long endtime = t.read_ms() + timeout; + while (t.read_ms() < endtime) + if (available()) + return true; + return false; +} + +void RF22::waitPacketSent() +{ + while (!_txPacketSent) + ; +} + +boolean RF22::recv(uint8_t* buf, uint8_t* len) +{ + if (!available()) + return false; + if (*len > _bufLen) + *len = _bufLen; + memcpy(buf, _buf, *len); + clearRxBuf(); + return true; +} + +void RF22::clearTxBuf() +{ + _bufLen = 0; + _txBufSentIndex = 0; + _txPacketSent = false; +} + +void RF22::startTransmit() +{ + sendNextFragment(); // Actually the first fragment + spiWrite(RF22_REG_3E_PACKET_LENGTH, _bufLen); // Total length that will be sent + setModeTx(); // Start the transmitter, turns off the receiver +} + +// Restart the trasnmission of a packet that had a problem +void RF22::restartTransmit() +{ + _mode = RF22_MODE_IDLE; + _txBufSentIndex = 0; + _txPacketSent = false; +// Serial.println("Restart"); + startTransmit(); +} + +boolean RF22::send(uint8_t* data, uint8_t len) +{ + setModeIdle(); + fillTxBuf(data, len); + startTransmit(); + return true; +} + +boolean RF22::fillTxBuf(uint8_t* data, uint8_t len) +{ + clearTxBuf(); + return appendTxBuf(data, len); +} + +boolean RF22::appendTxBuf(uint8_t* data, uint8_t len) +{ + if (((uint16_t)_bufLen + len) > RF22_MAX_MESSAGE_LEN) + return false; + memcpy(_buf + _bufLen, data, len); + _bufLen += len; + return true; +} + +// Assumption: there is currently <= RF22_TXFFAEM_THRESHOLD bytes in the Tx FIFO +void RF22::sendNextFragment() +{ + if (_txBufSentIndex < _bufLen) + { + // Some left to send + uint8_t len = _bufLen - _txBufSentIndex; + // But dont send too much + if (len > (RF22_FIFO_SIZE - RF22_TXFFAEM_THRESHOLD - 1)) + len = (RF22_FIFO_SIZE - RF22_TXFFAEM_THRESHOLD - 1); + spiBurstWrite(RF22_REG_7F_FIFO_ACCESS, _buf + _txBufSentIndex, len); + _txBufSentIndex += len; + } +} + +// Assumption: there are at least RF22_RXFFAFULL_THRESHOLD in the RX FIFO +// That means it should only be called after a RXAFULL interrupt +void RF22::readNextFragment() +{ + if (((uint16_t)_bufLen + RF22_RXFFAFULL_THRESHOLD) > RF22_MAX_MESSAGE_LEN) + { + // Hmmm receiver overflow. Should never occur + return; + } + // Read the RF22_RXFFAFULL_THRESHOLD octets that should be there + spiBurstRead(RF22_REG_7F_FIFO_ACCESS, _buf + _bufLen, RF22_RXFFAFULL_THRESHOLD); + _bufLen += RF22_RXFFAFULL_THRESHOLD; +} + +// Clear the FIFOs +void RF22::resetFifos() +{ + spiWrite(RF22_REG_08_OPERATING_MODE2, RF22_FFCLRRX | RF22_FFCLRTX); + spiWrite(RF22_REG_08_OPERATING_MODE2, 0); +} + +// Clear the Rx FIFO +void RF22::resetRxFifo() +{ + spiWrite(RF22_REG_08_OPERATING_MODE2, RF22_FFCLRRX); + spiWrite(RF22_REG_08_OPERATING_MODE2, 0); +} + +// CLear the TX FIFO +void RF22::resetTxFifo() +{ + spiWrite(RF22_REG_08_OPERATING_MODE2, RF22_FFCLRTX); + spiWrite(RF22_REG_08_OPERATING_MODE2, 0); +} + +// Default implmentation does nothing. Override if you wish +void RF22::handleExternalInterrupt() +{ +} + +// Default implmentation does nothing. Override if you wish +void RF22::handleWakeupTimerInterrupt() +{ +} + +void RF22::setHeaderTo(uint8_t to) +{ + spiWrite(RF22_REG_3A_TRANSMIT_HEADER3, to); +} + +void RF22::setHeaderFrom(uint8_t from) +{ + spiWrite(RF22_REG_3B_TRANSMIT_HEADER2, from); +} + +void RF22::setHeaderId(uint8_t id) +{ + spiWrite(RF22_REG_3C_TRANSMIT_HEADER1, id); +} + +void RF22::setHeaderFlags(uint8_t flags) +{ + spiWrite(RF22_REG_3D_TRANSMIT_HEADER0, flags); +} + +uint8_t RF22::headerTo() +{ + return spiRead(RF22_REG_47_RECEIVED_HEADER3); +} + +uint8_t RF22::headerFrom() +{ + return spiRead(RF22_REG_48_RECEIVED_HEADER2); +} + +uint8_t RF22::headerId() +{ + return spiRead(RF22_REG_49_RECEIVED_HEADER1); +} + +uint8_t RF22::headerFlags() +{ + return spiRead(RF22_REG_4A_RECEIVED_HEADER0); +} + +uint8_t RF22::lastRssi() +{ + return _lastRssi; +} + +void RF22::setPromiscuous(boolean promiscuous) +{ + spiWrite(RF22_REG_43_HEADER_ENABLE3, promiscuous ? 0x00 : 0xff); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22.h Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,1024 @@ +// RF22.h +// Author: Mike McCauley (mikem@open.com.au) +// Copyright (C) 2011 Mike McCauley +// $Id: RF22.h,v 1.19 2011/10/09 21:22:24 mikem Exp mikem $ +// ported to mbed by Karl Zweimueller +// +/// \mainpage RF22 library for Arduino +/// +/// This is the Arduino RF22 library. +/// It provides an object-oriented interface for sending and receiving data messages with Hope-RF +/// RF22B based radio modules, and compatible chips and modules, including the RFM22B transceiver module such as +/// this one: http://www.sparkfun.com/products/10153 +/// +/// RF22 also supports some of the features of ZigBee and XBee, +/// (such as mesh routing and automatic route discovery), +/// but with a much less complicated system and less expensive radios. +/// +/// The Hope-RF (http://www.hoperf.com) RFM22B (http://www.hoperf.com/rf_fsk/fsk/RFM22B.htm) +/// is a low-cost ISM transceiver module. It supports FSK, GFSK, OOK over a wide +/// range of frequencies and programmable data rates. +/// +/// This library provides functions for sending and receiving messages of up to 255 octets on any +/// frequency supported by the RF22B, in a range of predefined data rates and frequency deviations. +/// Frequency can be set with 312Hz precision to any frequency from 240.0MHz to 960.0MHz. +/// +/// Up to 2 RF22B modules can be connected to an Arduino, permitting the construction of translators +/// and frequency changers, etc. +/// +/// This library provides classes for +/// - RF22: unaddressed, unreliable messages +/// - RF22Datagram: addressed, unreliable messages +/// - RF22ReliableDatagram: addressed, reliable, retransmitted, acknowledged messages. +/// - RF22Router: multi hop delivery from source node to destination node via 0 or more intermediate nodes +/// - RF22Mesh: multi hop delivery with automatic route discovery and rediscovery. +/// +/// The following modulation types are suppported with a range of modem configurations for +/// common data rates and frequency deviations: +/// - GFSK Gaussian Frequency Shift Keying +/// - FSK Frequency Shift Keying +/// - OOK On-Off Keying +/// +/// Support for other RF22B features such as on-chip temperature measurement, analog-digital +/// converter, transmitter power control etc is also provided. +/// +/// The latest version of this documentation can be downloaded from +/// http://www.open.com.au/mikem/arduino/RF22 +/// +/// Example Arduino programs are included to show the main modes of use. +/// +/// The version of the package that this documentation refers to can be downloaded +/// from http://www.open.com.au/mikem/arduino/RF22/RF22-1.10.zip +/// You can find the latest version at http://www.open.com.au/mikem/arduino/RF22 +/// +/// Tested on Arduino Diecimila and Mega with arduino-0021 +/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15, +/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5. +/// With HopeRF RFM22 modules that appear to have RF22B chips on board: +/// - Device Type Code = 0x08 (RX/TRX) +/// - Version Code = 0x06 +/// It is known not to work on Diecimila. Dont bother trying. +/// +/// \par Packet Format +/// +/// All messages sent and received by this RF22 library must conform to this packet format: +/// +/// - 8 nibbles (4 octets) PREAMBLE +/// - 2 octets SYNC 0x2d, 0xd4 +/// - 4 octets HEADER: (TO, FROM, ID, FLAGS) +/// - 1 octet LENGTH (0 to 255), number of octets in DATA +/// - 0 to 255 octets DATA +/// - 2 octets CRC computed with CRC16(IBM), computed on HEADER, LENGTH and DATA +/// +/// For technical reasons, the message format is not compatible with the +/// 'HopeRF Radio Transceiver Message Library for Arduino' http://www.open.com.au/mikem/arduino/HopeRF from the same author. Nor is it compatible with +/// 'Virtual Wire' http://www.open.com.au/mikem/arduino/VirtualWire.pdf also from the same author. +/// +/// \par Connecting RFM-22 to Arduino +/// The physical connection between the RF22B and the Arduino require 3.3V, the 3 x SPI pins (SCK, SDI, SDO), +/// a Slave Select pin and an interrupt pin. +/// Note also that on the RFF22B, it is required to control the TX_ANT and X_ANT pins of the RFM22 in order to enable the +/// antenna connection. The RF22 library is configured so that GPIO0 and GPIO1 outputs can control TX_ANT and RX_ANT input pins +/// automatically. You must connect GPIO0 to TX_ANT and GPIO1 to RX_ANT for this automatic antenna switching to occur. +/// +/// Connect the RFM-22 to most Arduino's like this (Caution, Arduino Mega has different pins for SPI, +/// see below): +/// \code +/// Arduino RFM-22B +/// GND----------GND-\ (ground in) +/// SDN-/ (shutdown in) +/// 3V3----------VCC (3.3V in) +/// interrupt 0 pin D2-----------NIRQ (interrupt request out) +/// SS pin D10----------NSEL (chip select in) +/// SCK pin D13----------SCK (SPI clock in) +/// MOSI pin D11----------SDI (SPI Data in) +/// MISO pin D12----------SDO (SPI data out) +/// /--GPIO0 (GPIO0 out to control transmitter antenna TX_ANT +/// \--TX_ANT (TX antenna control in) +/// /--GPIO1 (GPIO1 out to control receiver antenna RX_ANT +/// \--RX_ANT (RX antenna control in) +/// \endcode +/// For an Arduino Mega: +/// \code +/// Mega RFM-22B +/// GND----------GND-\ (ground in) +/// SDN-/ (shutdown in) +/// 3V3----------VCC (3.3V in) +/// interrupt 0 pin D2-----------NIRQ (interrupt request out) +/// SS pin D10----------NSEL (chip select in) +/// SCK pin D52----------SCK (SPI clock in) +/// MOSI pin D51----------SDI (SPI Data in) +/// MISO pin D50----------SDO (SPI data out) +/// /--GPIO0 (GPIO0 out to control transmitter antenna TX_ANT +/// \--TX_ANT (TX antenna control in) +/// /--GPIO1 (GPIO1 out to control receiver antenna RX_ANT +/// \--RX_ANT (RX antenna control in) +/// \endcode +/// and you can then use the default constructor RF22(). +/// You can override the default settings for the SS pin and the interrupt +/// in the RF22 constructor if you wish to connect the slave select SS to other than pin D10 +/// or the interrupt request to other than pin D2. +/// It is possible to have 2 radios conected to one arduino, provided each radio has its own +/// SS and interrupt line (SCK, SDI and SDO are common to both radios) +/// +/// \par Example programs +/// +/// The following example programs are provided: +/// - rf22_client, rf22_server: Simple client/server pair using RF22 class +/// - rf22_datagram_client, rf22_datagram_server: Simple client/server pair using RF22Datagram class +/// - rf22_reliable_datagram_client, rf22_reliable_datagram_server: +/// Simple client/server pair using RF22ReliableDatagram class +/// - rf22_router_client, rf22_router_server1, rf22_router_server2, rf22_router_server3: +/// Simple RF22Router network. Requires Arduino Mega. +/// - rf22_mesh_client, rf22_mesh_server1, rf22_mesh_server2, rf22_mesh_server3: +/// Simple RF22Mesh network. Requires Arduino Mega. +/// - rf22_test: Some test code used during development, shows how to call some support functions +/// - rf22_snoop: Dumps in ASCII the contents of all RF22 messages received +/// - rf22_specan: Simple spectrum analyser using the RSSI measurements of the RF22 +/// (see <a href="specan1.png">Sample output</a> showing a plot from 395.0MHz to 396.0MHz of a +/// signal generator at 395.5MHz amplitude modulated at 100% 1kHz) +/// +/// \par Memory +/// +/// The RF22 library requires non-trivial amounts of memory. The sample programs above all compile to +/// about 9 to 14kbytes each, which will fit in the flash proram memory of most Arduinos. However, +/// the RAM requirements are more critical. Most sample programs above will run on Duemilanova, +/// but not on Diecimila. Even on Duemilanova, the RAM requirements are very close to the +/// available memory of 2kbytes. Therefore, you should be vary sparing with RAM use in programs that use +/// the RF22 library on Duemilanova. +/// +/// The sample RF22Router and RF22Mesh programs compile to about 14kbytes, +/// and require more RAM than the others. +/// They will not run on Duemilanova or Diecimila, but will run on Arduino Mega. +/// +/// It is often hard to accurately identify when you are hitting RAM limits on Arduino. +/// The symptoms can include: +/// - Mysterious crashes and restarts +/// - Changes in behaviour when seemingly unrelated changes are made (such as adding print() statements) +/// - Hanging +/// - Output from Serial.print() not appearing +/// +/// With an Arduino Mega, with 8 kbytes of SRAM, there is much more RAM headroom for +/// your own elaborate programs. +/// This library is reported not to work with Arduino Pro Mini and Arduino UNO, but these have not been tested here. +/// +/// \par Installation +/// +/// Install in the usual way: unzip the distribution zip file to the libraries +/// sub-folder of your sketchbook. +/// +/// This software is Copyright (C) 2011 Mike McCauley. Use is subject to license +/// conditions. The main licensing options available are GPL V2 or Commercial: +/// +/// \par Open Source Licensing GPL V2 +/// +/// This is the appropriate option if you want to share the source code of your +/// application with everyone you distribute it to, and you also want to give them +/// the right to share who uses it. If you wish to use this software under Open +/// Source Licensing, you must contribute all your source code to the open source +/// community in accordance with the GPL Version 2 when your application is +/// distributed. See http://www.gnu.org/copyleft/gpl.html +/// +/// \par Commercial Licensing +/// +/// This is the appropriate option if you are creating proprietary applications +/// and you are not prepared to distribute and share the source code of your +/// application. Contact info@open.com.au for details. +/// +/// \par Revision History +/// +/// \version 1.0 Initial release +/// +/// \version 1.1 Added rf22_snoop and rf22_specan examples +/// +/// \version 1.2 Changed default modulation to FSK_Rb2_4Fd36 +/// Some internal reorganisation. +/// Added RF22Router and RF22Mesh classes plus sample programs to support multi-hop and +/// automatic route discovery. +/// \version 1.3 Removed some unnecessary debug messages. Added virtual doArp and isPhysicalAddress +/// functions to RF22Mesh to support other physical address interpretation schemes (IPV4/IPV6?) +/// \version 1.4 RF22Router and RF22Mesh were inadvertently left out of the distro. +/// \version 1.5 Improvements contributed by Peter Mousley: Modem config table is now in flash rather than SRAM, +/// saving 400 bytes of SRAM. Allow a user-defined buffer size. Thanks Peter. +/// \version 1.6 Fixed some minor typos on doc and clarified that this code is for the RF22B. Fixed errors in the +/// definition of the power output constants which were incorrectly set to the values for the RF22. +/// Reported by Fred Slamen. If you were using a previous version of RF22, you probably were not getting the output +/// power you thought. +/// \version 1.7 Added code to initialise GPIO0 and GPIO1 so they can automatically control the TX_ANT and RX_ANT +/// antenna switching inputs. You must connect GPIO0 to TX_ANT and GPIO1 to RX_ANT for this automatic +/// antenna switching to occur. Updated doc to reflect this new connection requirement +/// \version 1.8 Changed the name of RF22_ENLBD in RF22_REG_06_INTERRUPT_ENABLE2 to RF22_ENLBDI because it collided +/// with a define of the same name in RF22_REG_07_OPERATING_MODE. RF22_REG_05_INTERRUPT_ENABLE1 enable mask +/// incorrectly used RF22_IFFERROR instead of RF22_ENFFERR. Reported by Steffan Woltjer. +/// \version 1.9 Fixed typos in RF22_REG_21_CLOCk*. Reported by Steffan Woltjer. +/// \version 1.10 Fixed a problem where a IFFERR during transmission could cause an infinite loop and a hang. +/// Reported by Raymond Gilbert. +/// +/// +/// \author Mike McCauley (mikem@open.com.au) + +#ifndef RF22_h +#define RF22_h +#include "mbed.h" + +#define boolean bool + +//#include <wiring.h> +// These defs cause trouble on some versions of Arduino +#undef round +#undef double + +// This is the bit in the SPI address that marks it as a write +#define RF22_SPI_WRITE_MASK 0x80 + +// This is the maximum message length that can be supported by this library. Limited by +// the message length octet in the header. Yes, 255 is correct even though the FIFO size in the RF22 is only +// 64 octets. We use interrupts to refil the Tx FIFO during transmission and to empty the +// Rx FIF during reception +// Can be pre-defined to a smaller size (to save SRAM) prior to including this header +#ifndef RF22_MAX_MESSAGE_LEN +#define RF22_MAX_MESSAGE_LEN 255 +#endif + +// Max number of octets the RF22 Rx and Tx FIFOs can hold +#define RF22_FIFO_SIZE 64 + +// Keep track of the mode the RF22 is in +#define RF22_MODE_IDLE 0 +#define RF22_MODE_RX 1 +#define RF22_MODE_TX 2 + +// These values we set for FIFO thresholds are actually the same as the POR values +#define RF22_TXFFAEM_THRESHOLD 4 +#define RF22_RXFFAFULL_THRESHOLD 55 + +// This is the default node address, +#define RF22_DEFAULT_NODE_ADDRESS 0 + +// This address in the TO addreess signifies a broadcast +#define RF22_BROADCAST_ADDRESS 0xff + +// Number of registers to be passed to setModemConfig() +#define RF22_NUM_MODEM_CONFIG_REGS 18 + +// Register names +#define RF22_REG_00_DEVICE_TYPE 0x00 +#define RF22_REG_01_VERSION_CODE 0x01 +#define RF22_REG_02_DEVICE_STATUS 0x02 +#define RF22_REG_03_INTERRUPT_STATUS1 0x03 +#define RF22_REG_04_INTERRUPT_STATUS2 0x04 +#define RF22_REG_05_INTERRUPT_ENABLE1 0x05 +#define RF22_REG_06_INTERRUPT_ENABLE2 0x06 +#define RF22_REG_07_OPERATING_MODE1 0x07 +#define RF22_REG_08_OPERATING_MODE2 0x08 +#define RF22_REG_09_OSCILLATOR_LOAD_CAPACITANCE 0x09 +#define RF22_REG_0A_UC_OUTPUT_CLOCK 0x0a +#define RF22_REG_0B_GPIO_CONFIGURATION0 0x0b +#define RF22_REG_0C_GPIO_CONFIGURATION1 0x0c +#define RF22_REG_0D_GPIO_CONFIGURATION2 0x0d +#define RF22_REG_0E_IO_PORT_CONFIGURATION 0x0e +#define RF22_REG_0F_ADC_CONFIGURATION 0x0f +#define RF22_REG_10_ADC_SENSOR_AMP_OFFSET 0x10 +#define RF22_REG_11_ADC_VALUE 0x11 +#define RF22_REG_12_TEMPERATURE_SENSOR_CALIBRATION 0x12 +#define RF22_REG_13_TEMPERATURE_VALUE_OFFSET 0x13 +#define RF22_REG_14_WAKEUP_TIMER_PERIOD1 0x14 +#define RF22_REG_15_WAKEUP_TIMER_PERIOD2 0x15 +#define RF22_REG_16_WAKEUP_TIMER_PERIOD3 0x16 +#define RF22_REG_17_WAKEUP_TIMER_VALUE1 0x17 +#define RF22_REG_18_WAKEUP_TIMER_VALUE2 0x18 +#define RF22_REG_19_LDC_MODE_DURATION 0x19 +#define RF22_REG_1A_LOW_BATTERY_DETECTOR_THRESHOLD 0x1a +#define RF22_REG_1B_BATTERY_VOLTAGE_LEVEL 0x1b +#define RF22_REG_1C_IF_FILTER_BANDWIDTH 0x1c +#define RF22_REG_1D_AFC_LOOP_GEARSHIFT_OVERRIDE 0x1d +#define RF22_REG_1E_AFC_TIMING_CONTROL 0x1e +#define RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE 0x1f +#define RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE 0x20 +#define RF22_REG_21_CLOCK_RECOVERY_OFFSET2 0x21 +#define RF22_REG_22_CLOCK_RECOVERY_OFFSET1 0x22 +#define RF22_REG_23_CLOCK_RECOVERY_OFFSET0 0x23 +#define RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1 0x24 +#define RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0 0x25 +#define RF22_REG_26_RSSI 0x26 +#define RF22_REG_27_RSSI_THRESHOLD 0x27 +#define RF22_REG_28_ANTENNA_DIVERSITY1 0x28 +#define RF22_REG_29_ANTENNA_DIVERSITY2 0x29 +#define RF22_REG_2A_AFC_LIMITER 0x2a +#define RF22_REG_2B_AFC_CORRECTION_READ 0x2b +#define RF22_REG_2C_OOK_COUNTER_VALUE_1 0x2c +#define RF22_REG_2D_OOK_COUNTER_VALUE_2 0x2d +#define RF22_REG_2E_SLICER_PEAK_HOLD 0x2e +#define RF22_REG_30_DATA_ACCESS_CONTROL 0x30 +#define RF22_REG_31_EZMAC_STATUS 0x31 +#define RF22_REG_32_HEADER_CONTROL1 0x32 +#define RF22_REG_33_HEADER_CONTROL2 0x33 +#define RF22_REG_34_PREAMBLE_LENGTH 0x34 +#define RF22_REG_35_PREAMBLE_DETECTION_CONTROL1 0x35 +#define RF22_REG_36_SYNC_WORD3 0x36 +#define RF22_REG_37_SYNC_WORD2 0x37 +#define RF22_REG_38_SYNC_WORD1 0x38 +#define RF22_REG_39_SYNC_WORD0 0x39 +#define RF22_REG_3A_TRANSMIT_HEADER3 0x3a +#define RF22_REG_3B_TRANSMIT_HEADER2 0x3b +#define RF22_REG_3C_TRANSMIT_HEADER1 0x3c +#define RF22_REG_3D_TRANSMIT_HEADER0 0x3d +#define RF22_REG_3E_PACKET_LENGTH 0x3e +#define RF22_REG_3F_CHECK_HEADER3 0x3f +#define RF22_REG_40_CHECK_HEADER2 0x40 +#define RF22_REG_41_CHECK_HEADER1 0x41 +#define RF22_REG_42_CHECK_HEADER0 0x42 +#define RF22_REG_43_HEADER_ENABLE3 0x43 +#define RF22_REG_44_HEADER_ENABLE2 0x44 +#define RF22_REG_45_HEADER_ENABLE1 0x45 +#define RF22_REG_46_HEADER_ENABLE0 0x46 +#define RF22_REG_47_RECEIVED_HEADER3 0x47 +#define RF22_REG_48_RECEIVED_HEADER2 0x48 +#define RF22_REG_49_RECEIVED_HEADER1 0x49 +#define RF22_REG_4A_RECEIVED_HEADER0 0x4a +#define RF22_REG_4B_RECEIVED_PACKET_LENGTH 0x4b +#define RF22_REG_50_ANALOG_TEST_BUS_SELECT 0x50 +#define RF22_REG_51_DIGITAL_TEST_BUS_SELECT 0x51 +#define RF22_REG_52_TX_RAMP_CONTROL 0x52 +#define RF22_REG_53_PLL_TUNE_TIME 0x53 +#define RF22_REG_55_CALIBRATION_CONTROL 0x55 +#define RF22_REG_56_MODEM_TEST 0x56 +#define RF22_REG_57_CHARGE_PUMP_TEST 0x57 +#define RF22_REG_58_CHARGE_PUMP_CURRENT_TRIMMING 0x58 +#define RF22_REG_59_DIVIDER_CURRENT_TRIMMING 0x59 +#define RF22_REG_5A_VCO_CURRENT_TRIMMING 0x5a +#define RF22_REG_5B_VCO_CALIBRATION 0x5b +#define RF22_REG_5C_SYNTHESIZER_TEST 0x5c +#define RF22_REG_5D_BLOCK_ENABLE_OVERRIDE1 0x5d +#define RF22_REG_5E_BLOCK_ENABLE_OVERRIDE2 0x5e +#define RF22_REG_5F_BLOCK_ENABLE_OVERRIDE3 0x5f +#define RF22_REG_60_CHANNEL_FILTER_COEFFICIENT_ADDRESS 0x60 +#define RF22_REG_61_CHANNEL_FILTER_COEFFICIENT_VALUE 0x61 +#define RF22_REG_62_CRYSTAL_OSCILLATOR_POR_CONTROL 0x62 +#define RF22_REG_63_RC_OSCILLATOR_COARSE_CALIBRATION 0x63 +#define RF22_REG_64_RC_OSCILLATOR_FINE_CALIBRATION 0x64 +#define RF22_REG_65_LDO_CONTROL_OVERRIDE 0x65 +#define RF22_REG_66_LDO_LEVEL_SETTINGS 0x66 +#define RF22_REG_67_DELTA_SIGMA_ADC_TUNING1 0x67 +#define RF22_REG_68_DELTA_SIGMA_ADC_TUNING2 0x68 +#define RF22_REG_69_AGC_OVERRIDE1 0x69 +#define RF22_REG_6A_AGC_OVERRIDE2 0x6a +#define RF22_REG_6B_GFSK_FIR_FILTER_COEFFICIENT_ADDRESS 0x6b +#define RF22_REG_6C_GFSK_FIR_FILTER_COEFFICIENT_VALUE 0x6c +#define RF22_REG_6D_TX_POWER 0x6d +#define RF22_REG_6E_TX_DATA_RATE1 0x6e +#define RF22_REG_6F_TX_DATA_RATE0 0x6f +#define RF22_REG_70_MODULATION_CONTROL1 0x70 +#define RF22_REG_71_MODULATION_CONTROL2 0x71 +#define RF22_REG_72_FREQUENCY_DEVIATION 0x72 +#define RF22_REG_73_FREQUENCY_OFFSET1 0x73 +#define RF22_REG_74_FREQUENCY_OFFSET2 0x74 +#define RF22_REG_75_FREQUENCY_BAND_SELECT 0x75 +#define RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1 0x76 +#define RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0 0x77 +#define RF22_REG_79_FREQUENCY_HOPPING_CHANNEL_SELECT 0x79 +#define RF22_REG_7A_FREQUENCY_HOPPING_STEP_SIZE 0x7a +#define RF22_REG_7C_TX_FIFO_CONTROL1 0x7c +#define RF22_REG_7D_TX_FIFO_CONTROL2 0x7d +#define RF22_REG_7E_RX_FIFO_CONTROL 0x7e +#define RF22_REG_7F_FIFO_ACCESS 0x7f + +// These register masks etc are named wherever possible +// corresponding to the bit and field names in the RF-22 Manual +// RF22_REG_00_DEVICE_TYPE 0x00 +#define RF22_DEVICE_TYPE_RX_TRX 0x08 +#define RF22_DEVICE_TYPE_TX 0x07 + +// RF22_REG_02_DEVICE_STATUS 0x02 +#define RF22_FFOVL 0x80 +#define RF22_FFUNFL 0x40 +#define RF22_RXFFEM 0x20 +#define RF22_HEADERR 0x10 +#define RF22_FREQERR 0x08 +#define RF22_LOCKDET 0x04 +#define RF22_CPS 0x03 +#define RF22_CPS_IDLE 0x00 +#define RF22_CPS_RX 0x01 +#define RF22_CPS_TX 0x10 + +// RF22_REG_03_INTERRUPT_STATUS1 0x03 +#define RF22_IFFERROR 0x80 +#define RF22_ITXFFAFULL 0x40 +#define RF22_ITXFFAEM 0x20 +#define RF22_IRXFFAFULL 0x10 +#define RF22_IEXT 0x08 +#define RF22_IPKSENT 0x04 +#define RF22_IPKVALID 0x02 +#define RF22_ICRCERROR 0x01 + +// RF22_REG_04_INTERRUPT_STATUS2 0x04 +#define RF22_ISWDET 0x80 +#define RF22_IPREAVAL 0x40 +#define RF22_IPREAINVAL 0x20 +#define RF22_IRSSI 0x10 +#define RF22_IWUT 0x08 +#define RF22_ILBD 0x04 +#define RF22_ICHIPRDY 0x02 +#define RF22_IPOR 0x01 + +// RF22_REG_05_INTERRUPT_ENABLE1 0x05 +#define RF22_ENFFERR 0x80 +#define RF22_ENTXFFAFULL 0x40 +#define RF22_ENTXFFAEM 0x20 +#define RF22_ENRXFFAFULL 0x10 +#define RF22_ENEXT 0x08 +#define RF22_ENPKSENT 0x04 +#define RF22_ENPKVALID 0x02 +#define RF22_ENCRCERROR 0x01 + +// RF22_REG_06_INTERRUPT_ENABLE2 0x06 +#define RF22_ENSWDET 0x80 +#define RF22_ENPREAVAL 0x40 +#define RF22_ENPREAINVAL 0x20 +#define RF22_ENRSSI 0x10 +#define RF22_ENWUT 0x08 +#define RF22_ENLBDI 0x04 +#define RF22_ENCHIPRDY 0x02 +#define RF22_ENPOR 0x01 + +// RF22_REG_07_OPERATING_MODE 0x07 +#define RF22_SWRES 0x80 +#define RF22_ENLBD 0x40 +#define RF22_ENWT 0x20 +#define RF22_X32KSEL 0x10 +#define RF22_TXON 0x08 +#define RF22_RXON 0x04 +#define RF22_PLLON 0x02 +#define RF22_XTON 0x01 + +// RF22_REG_08_OPERATING_MODE2 0x08 +#define RF22_ANTDIV 0xc0 +#define RF22_RXMPK 0x10 +#define RF22_AUTOTX 0x08 +#define RF22_ENLDM 0x04 +#define RF22_FFCLRRX 0x02 +#define RF22_FFCLRTX 0x01 + +// RF22_REG_0F_ADC_CONFIGURATION 0x0f +#define RF22_ADCSTART 0x80 +#define RF22_ADCDONE 0x80 +#define RF22_ADCSEL 0x70 +#define RF22_ADCSEL_INTERNAL_TEMPERATURE_SENSOR 0x00 +#define RF22_ADCSEL_GPIO0_SINGLE_ENDED 0x10 +#define RF22_ADCSEL_GPIO1_SINGLE_ENDED 0x20 +#define RF22_ADCSEL_GPIO2_SINGLE_ENDED 0x30 +#define RF22_ADCSEL_GPIO0_GPIO1_DIFFERENTIAL 0x40 +#define RF22_ADCSEL_GPIO1_GPIO2_DIFFERENTIAL 0x50 +#define RF22_ADCSEL_GPIO0_GPIO2_DIFFERENTIAL 0x60 +#define RF22_ADCSEL_GND 0x70 +#define RF22_ADCREF 0x0c +#define RF22_ADCREF_BANDGAP_VOLTAGE 0x00 +#define RF22_ADCREF_VDD_ON_3 0x08 +#define RF22_ADCREF_VDD_ON_2 0x0c +#define RF22_ADCGAIN 0x03 + +// RF22_REG_10_ADC_SENSOR_AMP_OFFSET 0x10 +#define RF22_ADCOFFS 0x0f + +// RF22_REG_12_TEMPERATURE_SENSOR_CALIBRATION 0x12 +#define RF22_TSRANGE 0xc0 +#define RF22_TSRANGE_M64_64C 0x00 +#define RF22_TSRANGE_M64_192C 0x40 +#define RF22_TSRANGE_0_128C 0x80 +#define RF22_TSRANGE_M40_216F 0xc0 +#define RF22_ENTSOFFS 0x20 +#define RF22_ENTSTRIM 0x10 +#define RF22_TSTRIM 0x0f + +// RF22_REG_14_WAKEUP_TIMER_PERIOD1 0x14 +#define RF22_WTR 0x3c +#define RF22_WTD 0x03 + +// RF22_REG_1D_AFC_LOOP_GEARSHIFT_OVERRIDE 0x1d +#define RF22_AFC_EN 0x40 + +// Reg RF22_REG_1E_AFC_TIMING_CONTROL 0x1e +#define RF22_AFC_TC 0x0a + +// Reg RF22_REG_2A_AFC_LIMITER 0x2a +#define RF22_AFC_LIMIT 0x50 + +// RF22_REG_30_DATA_ACCESS_CONTROL 0x30 +#define RF22_ENPACRX 0x80 +#define RF22_LSBFRST 0x40 +#define RF22_CRCDONLY 0x20 +#define RF22_ENPACTX 0x08 +#define RF22_ENCRC 0x04 +#define RF22_CRC 0x03 +#define RF22_CRC_CCITT 0x00 +#define RF22_CRC_CRC_16_IBM 0x01 +#define RF22_CRC_IEC_16 0x02 +#define RF22_CRC_BIACHEVA 0x03 + +// RF22_REG_32_HEADER_CONTROL1 0x32 +#define RF22_BCEN 0xf0 +#define RF22_BCEN_NONE 0x00 +#define RF22_BCEN_HEADER0 0x10 +#define RF22_BCEN_HEADER1 0x20 +#define RF22_BCEN_HEADER2 0x40 +#define RF22_BCEN_HEADER3 0x80 +#define RF22_HDCH 0x0f +#define RF22_HDCH_NONE 0x00 +#define RF22_HDCH_HEADER0 0x01 +#define RF22_HDCH_HEADER1 0x02 +#define RF22_HDCH_HEADER2 0x04 +#define RF22_HDCH_HEADER3 0x08 + +// RF22_REG_33_HEADER_CONTROL2 0x33 +#define RF22_HDLEN 0x70 +#define RF22_HDLEN_0 0x00 +#define RF22_HDLEN_1 0x10 +#define RF22_HDLEN_2 0x20 +#define RF22_HDLEN_3 0x30 +#define RF22_HDLEN_4 0x40 +#define RF22_FIXPKLEN 0x08 +#define RF22_SYNCLEN 0x06 +#define RF22_SYNCLEN_1 0x00 +#define RF22_SYNCLEN_2 0x02 +#define RF22_SYNCLEN_3 0x04 +#define RF22_SYNCLEN_4 0x06 +#define RF22_PREALEN8 0x01 + +// RF22_REG_6D_TX_POWER 0x6d +#define RF22_TXPOW 0x07 +#define RF22_TXPOW_4X31 0x08 // Not used in RFM22B +#define RF22_TXPOW_1DBM 0x00 +#define RF22_TXPOW_2DBM 0x01 +#define RF22_TXPOW_5DBM 0x02 +#define RF22_TXPOW_8DBM 0x03 +#define RF22_TXPOW_11DBM 0x04 +#define RF22_TXPOW_14DBM 0x05 +#define RF22_TXPOW_17DBM 0x06 +#define RF22_TXPOW_20DBM 0x07 +// IN RFM23B +#define RF22_TXPOW_LNA_SW 0x08 + +// RF22_REG_71_MODULATION_CONTROL2 0x71 +#define RF22_TRCLK 0xc0 +#define RF22_TRCLK_NONE 0x00 +#define RF22_TRCLK_GPIO 0x40 +#define RF22_TRCLK_SDO 0x80 +#define RF22_TRCLK_NIRQ 0xc0 +#define RF22_DTMOD 0x30 +#define RF22_DTMOD_DIRECT_GPIO 0x00 +#define RF22_DTMOD_DIRECT_SDI 0x10 +#define RF22_DTMOD_FIFO 0x20 +#define RF22_DTMOD_PN9 0x30 +#define RF22_ENINV 0x08 +#define RF22_FD8 0x04 +#define RF22_MODTYP 0x30 +#define RF22_MODTYP_UNMODULATED 0x00 +#define RF22_MODTYP_OOK 0x01 +#define RF22_MODTYP_FSK 0x02 +#define RF22_MODTYP_GFSK 0x03 + +// RF22_REG_75_FREQUENCY_BAND_SELECT 0x75 +#define RF22_SBSEL 0x40 +#define RF22_HBSEL 0x20 +#define RF22_FB 0x1f + +///////////////////////////////////////////////////////////////////// +/// \class RF22 RF22.h <RF22.h> +/// \brief Send and receive unaddressed, unreliable datagrams. +/// +/// This base class provides basic functions for sending and receiving unaddressed, +/// unreliable datagrams of arbitrary length to 255 octets per packet. +/// +/// Subclasses may use this class to implement reliable, addressed datagrams and streams, +/// mesh routers, repeaters, translators etc. +/// +/// On transmission, the TO and FROM addresses default to 0x00, unless changed by a subclass. +/// On reception the TO addressed is checked against the node address (defaults to 0x00) or the +/// broadcast address (which is 0xff). The ID and FLAGS are set to 0, and not checked by this class. +/// This permits use of the this base RF22 class as an +/// unaddresed, unreliable datagram service. Subclasses are expected to change this behaviour to +/// add node address, ids, retransmission etc +/// +/// Naturally, for any 2 radios to communicate that must be configured to use the same frequence and +/// modulation scheme. +class RF22 +{ +public: + + /// \brief Defines register values for a set of modem configuration registers + /// + /// Defines register values for a set of modem configuration registers + /// that can be passed to setModemConfig() + /// if none of the choices in ModemConfigChoice suit your need + /// setModemConfig() writes the register values to the appropriate RF22 registers + /// to set the desired modulation type, data rate and deviation/bandwidth. + /// Suitable values for these registers can be computed using the register calculator at + /// "http://www.hoperf.com/upfile/RF22B 23B 31B 42B 43B Register Settings_RevB1-v5.xls" + typedef struct + { + uint8_t reg_1c; ///< Value for register RF22_REG_1C_IF_FILTER_BANDWIDTH + uint8_t reg_1f; ///< Value for register RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE + uint8_t reg_20; ///< Value for register RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE + uint8_t reg_21; ///< Value for register RF22_REG_21_CLOCK_RECOVERY_OFFSET2 + uint8_t reg_22; ///< Value for register RF22_REG_22_CLOCK_RECOVERY_OFFSET1 + uint8_t reg_23; ///< Value for register RF22_REG_23_CLOCK_RECOVERY_OFFSET0 + uint8_t reg_24; ///< Value for register RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1 + uint8_t reg_25; ///< Value for register RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0 + uint8_t reg_2c; ///< Value for register RF22_REG_2C_OOK_COUNTER_VALUE_1 + uint8_t reg_2d; ///< Value for register RF22_REG_2D_OOK_COUNTER_VALUE_2 + uint8_t reg_2e; ///< Value for register RF22_REG_2E_SLICER_PEAK_HOLD + uint8_t reg_58; ///< Value for register RF22_REG_58_CHARGE_PUMP_CURRENT_TRIMMING + uint8_t reg_69; ///< Value for register RF22_REG_69_AGC_OVERRIDE1 + uint8_t reg_6e; ///< Value for register RF22_REG_6E_TX_DATA_RATE1 + uint8_t reg_6f; ///< Value for register RF22_REG_6F_TX_DATA_RATE0 + uint8_t reg_70; ///< Value for register RF22_REG_70_MODULATION_CONTROL1 + uint8_t reg_71; ///< Value for register RF22_REG_71_MODULATION_CONTROL2 + uint8_t reg_72; ///< Value for register RF22_REG_72_FREQUENCY_DEVIATION + } ModemConfig; + + /// Choices for setModemConfig() for a selected subset of common modulation types, + /// and data rates. If you need another configuration, use the register calculator at + /// "http://www.hoperf.com/upfile/RF22B 23B 31B 42B 43B Register Settings_RevB1-v5.xls" + /// and call setModemRegisters() with your desired settings + /// These are indexes into _modemConfig + typedef enum + { + UnmodulatedCarrier = 0, ///< Unmodulated carrier for testing + FSK_PN9_Rb2Fd5, ///< FSK, No Manchester, Rb = 2kbs, Fd = 5kHz, PN9 random modulation for testing + + FSK_Rb2Fd5, ///< FSK, No Manchester, Rb = 2kbs, Fd = 5kHz + FSK_Rb2_4Fd36, ///< FSK, No Manchester, Rb = 2.4kbs, Fd = 36kHz + FSK_Rb4_8Fd45, ///< FSK, No Manchester, Rb = 4.8kbs, Fd = 45kHz + FSK_Rb9_6Fd45, ///< FSK, No Manchester, Rb = 9.6kbs, Fd = 45kHz + FSK_Rb19_2Fd9_6, ///< FSK, No Manchester, Rb = 19.2kbs, Fd = 9.6kHz + FSK_Rb38_4Fd19_6, ///< FSK, No Manchester, Rb = 38.4kbs, Fd = 19.6kHz + FSK_Rb57_6Fd28_8, ///< FSK, No Manchester, Rb = 57.6kbs, Fd = 28.8kHz + FSK_Rb125Fd125, ///< FSK, No Manchester, Rb = 125kbs, Fd = 125kHz + + GFSK_Rb2Fd5, ///< GFSK, No Manchester, Rb = 2kbs, Fd = 5kHz + GFSK_Rb2_4Fd36, ///< GFSK, No Manchester, Rb = 2.4kbs, Fd = 36kHz + GFSK_Rb4_8Fd45, ///< GFSK, No Manchester, Rb = 4.8kbs, Fd = 45kHz + GFSK_Rb9_6Fd45, ///< GFSK, No Manchester, Rb = 9.6kbs, Fd = 45kHz + GFSK_Rb19_2Fd9_6, ///< GFSK, No Manchester, Rb = 19.2kbs, Fd = 9.6kHz + GFSK_Rb38_4Fd19_6, ///< GFSK, No Manchester, Rb = 38.4kbs, Fd = 19.6kHz + GFSK_Rb57_6Fd28_8, ///< GFSK, No Manchester, Rb = 57.6kbs, Fd = 28.8kHz + GFSK_Rb125Fd125, ///< GFSK, No Manchester, Rb = 125kbs, Fd = 125kHz + + OOK_Rb1_2Bw75, ///< OOK, No Manchester, Rb = 1.2kbs, Rx Bandwidth = 75kHz + OOK_Rb2_4Bw335, ///< OOK, No Manchester, Rb = 2.4kbs, Rx Bandwidth = 335kHz + OOK_Rb4_8Bw335, ///< OOK, No Manchester, Rb = 4.8kbs, Rx Bandwidth = 335kHz + OOK_Rb9_6Bw335, ///< OOK, No Manchester, Rb = 9.6kbs, Rx Bandwidth = 335kHz + OOK_Rb19_2Bw335, ///< OOK, No Manchester, Rb = 19.2kbs, Rx Bandwidth = 335kHz + OOK_Rb38_4Bw335, ///< OOK, No Manchester, Rb = 38.4kbs, Rx Bandwidth = 335kHz + OOK_Rb40Bw335 ///< OOK, No Manchester, Rb = 40kbs, Rx Bandwidth = 335kHz + } ModemConfigChoice; + + /// Constructor. You can have multiple instances, but each instance must have its own + /// interrupt and slave select pin. After constructing, you must call init() to initialise the intnerface + /// and the radio module + /// \param[in] slaveSelectPin the Arduino pin number of the output to use to select the RF22 before + /// accessing it + /// \param[in] interrupt The interrupt number to use. Default is interrupt 0 (Arduino input pin 2) + RF22(PinName slaveSelectPin , PinName mosi, PinName miso, PinName sclk, PinName interrupt ); + + /// Initialises this instance and the radio module connected to it. + /// The following steps are taken: + /// - Initialise the slave select pin and the SPI interface library + /// - Software reset the RF22 module + /// - Checks the connected RF22 module is either a RF22_DEVICE_TYPE_RX_TRX or a RF22_DEVICE_TYPE_TX + /// - Attaches an interrupt handler + /// - Configures the RF22 module + /// - Sets the frequncy to 434.0 MHz + /// - Sets the modem data rate to FSK_Rb2_4Fd36 + /// \return true if everything was successful + boolean init(); + + /// Issues a software reset to the + /// RF22 module. Blocks for 1ms to ensure the reset is complete. + void reset(); + + /// Reads a single register from the RF22 + /// \param[in] reg Register number, one of RF22_REG_* + /// \return The value of the register + uint8_t spiRead(uint8_t reg); + + /// Writes a single byte to the RF22 + /// \param[in] reg Register number, one of RF22_REG_* + /// \param[in] val The value to write + void spiWrite(uint8_t reg, uint8_t val); + + /// Reads a number of consecutive registers from the RF22 using burst read mode + /// \param[in] reg Register number of the first register, one of RF22_REG_* + /// \param[in] dest Array to write the register values to. Must be at least len bytes + /// \param[in] len Number of bytes to read + void spiBurstRead(uint8_t reg, uint8_t* dest, uint8_t len); + + /// Write a number of consecutive registers using burst write mode + /// \param[in] reg Register number of the first register, one of RF22_REG_* + /// \param[in] src Array of new register values to write. Must be at least len bytes + /// \param[in] len Number of bytes to write + void spiBurstWrite(uint8_t reg, uint8_t* src, uint8_t len); + + /// Reads and returns the device status register RF22_REG_02_DEVICE_STATUS + /// \return The value of the device status register + uint8_t statusRead(); + + /// Reads a value from the on-chip analog-digital converter + /// \param[in] adcsel Selects the ADC input to measure. One of RF22_ADCSEL_*. Defaults to the + /// internal temperature sensor + /// \param[in] adcref Specifies the refernce voltage to use. One of RF22_ADCREF_*. + /// Defaults to the internal bandgap voltage. + /// \param[in] adcgain Amplifier gain selection. + /// \param[in] adcoffs Amplifier offseet (0 to 15). + /// \return The analog value. 0 to 255. + uint8_t adcRead(uint8_t adcsel = RF22_ADCSEL_INTERNAL_TEMPERATURE_SENSOR, + uint8_t adcref = RF22_ADCREF_BANDGAP_VOLTAGE, + uint8_t adcgain = 0, + uint8_t adcoffs = 0); + + /// Reads the on-chip temperature sensoer + /// \param[in] tsrange Specifies the temperature range to use. One of RF22_TSRANGE_* + /// \param[in] tvoffs Specifies the temperature value offset. This is actually signed value + /// added to the measured temperature value + /// \return The measured temperature. + uint8_t temperatureRead(uint8_t tsrange = RF22_TSRANGE_M64_64C, uint8_t tvoffs = 0); + + /// Reads the wakeup timer value in registers RF22_REG_17_WAKEUP_TIMER_VALUE1 + /// and RF22_REG_18_WAKEUP_TIMER_VALUE2 + /// \return The wakeup timer value + uint16_t wutRead(); + + /// Sets the wakeup timer period registers RF22_REG_14_WAKEUP_TIMER_PERIOD1, + /// RF22_REG_15_WAKEUP_TIMER_PERIOD2 and RF22_REG_16_WAKEUP_TIMER_PERIOD3 + /// \param[in] wtm Wakeup timer mantissa value + /// \param[in] wtr Wakeup timer exponent R value + /// \param[in] wtd Wakeup timer exponent D value + void setWutPeriod(uint16_t wtm, uint8_t wtr = 0, uint8_t wtd = 0); + + /// Sets the transmitter and receiver centre frequency + /// \param[in] centre Frequency in MHz. 240.0 to 960.0. Caution, some versions of RF22 and derivatives + /// implemented more restricted frequency ranges. + /// \return true if the selected frquency centre + (fhch * fhs) is within range + boolean setFrequency(float centre); + + /// Sets the frequency hopping step size. + /// \param[in] fhs Frequency Hopping step size in 10kHz increments + /// \return true if centre + (fhch * fhs) is within limits + boolean setFHStepSize(uint8_t fhs); + + /// Sets the frequncy hopping channel. Adds fhch * fhs to centre frequency + /// \param[in] fhch The channel number + /// \return true if the selected frquency centre + (fhch * fhs) is within range + boolean setFHChannel(uint8_t fhch); + + /// Reads and returns the current RSSI value from register RF22_REG_26_RSSI + /// \return The current RSSI value + uint8_t rssiRead(); + + /// Reads and returns the current EZMAC value from register RF22_REG_31_EZMAC_STATUS + /// \return The current EZMAC value + uint8_t ezmacStatusRead(); + + /// Sets the parameters for the RF22 Idle mode in register RF22_REG_07_OPERATING_MODE. + /// Idle mode is the mode the RF22 wil be in when not transmitting or receiving. The default idle mode + /// is RF22_XTON ie READY mode. + /// \param[in] mode MAsk of mode bits, using RF22_SWRES, RF22_ENLBD, RF22_ENWT, + /// RF22_X32KSEL, RF22_PLLON, RF22_XTON. + void setMode(uint8_t mode); + + /// If current mode is Rx or Tx changes it to Idle. If the transmitter or receiver is running, + /// disables them. + void setModeIdle(); + + /// If current mode is Tx or Idle, changes it to Rx. + /// Starts the receiver in the RF22. + void setModeRx(); + + /// If current mode is Rx or Idle, changes it to Rx. + /// Starts the transmitter in the RF22. + void setModeTx(); + + /// Sets the transmitter power output level in register RF22_REG_6D_TX_POWER. + /// Be a good neighbour and set the lowest power level you need. + /// After init(), the power wil be set to RF22_TXPOW_8DBM. + /// Caution: In some countries you may only select RF22_TXPOW_17DBM if you + /// are also using frequency hopping. + /// \param[in] power Transmitter power level, one of RF22_TXPOW_* + void setTxPower(uint8_t power); + + /// Sets all the registered required to configure the data modem in the RF22, including the data rate, + /// bandwidths etc. You cas use this to configure the modem with custom configuraitons if none of the + /// canned configurations in ModemConfigChoice suit you. + /// \param[in] config A ModemConfig structure containing values for the modem configuration registers. + void setModemRegisters(ModemConfig* config); + + /// Select one of the predefined modem configurations. If you need a modem configuration not provided + /// here, use setModemRegisters() with your own ModemConfig. + /// \param[in] index The configuration choice. + /// \return true if index is a valid choice. + boolean setModemConfig(ModemConfigChoice index); + + /// Starts the receiver and checks whether a received message is available. + /// This can be called multiple times in a timeout loop + /// \return true if a complete, valid message has been received and is able to be retrieved by + /// recv() + boolean available(); + + /// Starts the receiver and blocks until a valid received + /// message is available. + void waitAvailable(); + + /// Starts the receiver and blocks until a received message is available or a timeout + /// \param[in] timeout Maximum time to wait in milliseconds. + /// \return true if a message is available + bool waitAvailableTimeout(uint16_t timeout); + + /// Turns the receiver on if it not already on. + /// If there is a valid message available, copy it to buf and return true + /// else return false. + /// If a message is copied, *len is set to the length (Caution, 0 length messages are permitted). + /// You should be sure to call this function frequently enough to not miss any messages + /// It is recommended that you call it in your main loop. + /// \param[in] buf Location to copy the received message + /// \param[in,out] len Pointer to available space in buf. Set to the actual number of octets copied. + /// \return true if a valid message was copied to buf + boolean recv(uint8_t* buf, uint8_t* len); + + /// Loads a message into the transmitter and starts the transmitter. Note that a message length + /// of 0 is permitted, in which case data may be NULL. + /// \param[in] data Array of data to be sent + /// \param[in] len Number of bytes of data to send. + /// \return true + boolean send(uint8_t* data, uint8_t len); + + /// Blocks until the current message + /// (if any) has been completely sent + void waitPacketSent(); + + /// Tells the receiver to accept messages with any TO address, not just messages + /// addressed to this node or the broadcast address + /// \param[in] promiscuous true if you wish to receive messages with any TO address + void setPromiscuous(boolean promiscuous); + + /// Returns the TO header of the last received message + /// \return The TO header + uint8_t headerTo(); + + /// Returns the FROM header of the last received message + /// \return The FROM header + /// \return + uint8_t headerFrom(); + + /// Returns the ID header of the last received message + /// \return The ID header + /// \return + uint8_t headerId(); + + /// Returns the FLAGS header of the last received message + /// \return The FLAGS header + /// \return + uint8_t headerFlags(); + + /// Returns the RSSI (Receiver Signal Strength Indicator) + /// of the last received message. This measurement is taken when + /// the preamble has been received. It is a (non-linear) measure of the received signal strength. + /// \return The RSSI + uint8_t lastRssi(); + +protected: + /// Sets the message preamble length in RF22_REG_34_PREAMBLE_LENGTH + /// \param[in] nibbles Preamble length in nibbles of 4 bits each. + void setPreambleLength(uint8_t nibbles); + + /// Sets the sync words for transmit and receive in registers RF22_REG_36_SYNC_WORD3 + /// to RF22_REG_39_SYNC_WORD0 + /// \param[in] syncWords Array of sync words + /// \param[in] len Number of sync words to set + void setSyncWords(uint8_t* syncWords, uint8_t len); + + /// This is a low level function to handle the interrupts for one instance of RF22. + /// Called automatically by isr0() and isr1() + /// Should not need to be called. + void handleInterrupt(); + + /// Clears the receiver buffer. + /// Internal use only + void clearRxBuf(); + + /// Clears the transmitter buffer + /// Internal use only + void clearTxBuf(); + + /// Fills the transmitter buffer with the data of a mesage to be sent + /// \param[in] data Array of data bytes to be sent (0 to 255) + /// \param[in] len Number of data bytes in data + /// \return true + boolean fillTxBuf(uint8_t* data, uint8_t len); + + /// Appends the transmitter buffer with the data of a mesage to be sent + /// \param[in] data Array of data bytes to be sent (0 to 255) + /// \param[in] len Number of data bytes in data + /// \return false if the resulting message would exceed RF22_MAX_MESSAGE_LEN, else true + boolean appendTxBuf(uint8_t* data, uint8_t len); + + /// Internal function to load the next fragment of + /// the current message into the transmitter FIFO + /// Internal use only + void sendNextFragment(); + + /// function to copy the next fragment from + /// the receiver FIF) into the receiver buffer + void readNextFragment(); + + /// Clears the RF22 Rx and Tx FIFOs + /// Internal use only + void resetFifos(); + + /// Clears the RF22 Rx FIFO + /// Internal use only + void resetRxFifo(); + + /// Clears the RF22 Tx FIFO + /// Internal use only + void resetTxFifo(); + + /// This function will be called by handleInterrupt() if an RF22 external interrupt occurs. + /// This can only happen if external interrupts are enabled in the RF22 + /// (which they are not by default). + /// Subclasses may override this function to get control when an RF22 external interrupt occurs. + virtual void handleExternalInterrupt(); + + /// This function will be called by handleInterrupt() if an RF22 wakeup timer interrupt occurs. + /// This can only happen if wakeup timer interrupts are enabled in the RF22 + /// (which they are not by default). + /// Subclasses may override this function to get control when an RF22 wakeup timer interrupt occurs. + virtual void handleWakeupTimerInterrupt(); + + /// Sets the TO header to be sent in all subsequent messages + /// \param[in] to The new TO header value + void setHeaderTo(uint8_t to); + + /// Sets the FROM header to be sent in all subsequent messages + /// \param[in] from The new FROM header value + void setHeaderFrom(uint8_t from); + + /// Sets the ID header to be sent in all subsequent messages + /// \param[in] id The new ID header value + void setHeaderId(uint8_t id); + + /// Sets the FLAGS header to be sent in all subsequent messages + /// \param[in] flags The new FLAGS header value + void setHeaderFlags(uint8_t flags); + + /// Start the transmission of the contents + /// of the Tx buffer + void startTransmit(); + + /// ReStart the transmission of the contents + /// of the Tx buffer after a atransmission failure + void restartTransmit(); + +//private: + /// Low level interrupt service routine for RF22 connected to interrupt 0 + //static void isr0(); + void isr0(); + + /// Low level interrupt service routine for RF22 connected to interrupt 1 + //static void isr1(); +private: + /// Array of instances connected to interrupts 0 and 1 + //static RF22* _RF22ForInterrupt[]; + + + uint8_t _mode; // One of RF22_MODE_* + + uint8_t _idleMode; + DigitalOut _slaveSelectPin; + SPI _spi; + InterruptIn _interrupt; + uint8_t _deviceType; + + DigitalOut led1; + DigitalOut led2; + DigitalOut led3; + DigitalOut led4; + + // These volatile members may get changed in the interrupt service routine + uint8_t _buf[RF22_MAX_MESSAGE_LEN]; + volatile uint8_t _bufLen; + + volatile boolean _rxBufValid; + + volatile boolean _txPacketSent; + volatile uint8_t _txBufSentIndex; + + volatile uint16_t _rxBad; + volatile uint16_t _rxGood; + volatile uint16_t _txGood; + + volatile uint8_t _lastRssi; + +}; + + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22Datagram.cpp Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,51 @@ +// RF22Datagram.cpp +// +// Copyright (C) 2011 Mike McCauley +// $Id: RF22Datagram.cpp,v 1.2 2011/02/09 22:26:09 mikem Exp $ +// ported to mbed by Karl Zweimueller + +#include <RF22Datagram.h> +//#include <SPI.h> + +RF22Datagram::RF22Datagram(uint8_t thisAddress, PinName slaveSelectPin , PinName mosi, PinName miso, PinName sclk, PinName interrupt ) + : RF22(slaveSelectPin , mosi, miso, sclk, interrupt ) +{ + _thisAddress = thisAddress; +} + +//////////////////////////////////////////////////////////////////// +// Public methods +boolean RF22Datagram::init() +{ + boolean ret = this->RF22::init(); + if (ret) + setThisAddress(_thisAddress); + return ret; +} + +void RF22Datagram::setThisAddress(uint8_t thisAddress) +{ + _thisAddress = thisAddress; + // Check the TO header against RF22_DEFAULT_NODE_ADDRESS + spiWrite(RF22_REG_3F_CHECK_HEADER3, _thisAddress); + // Use this address in the transmitted FROM header + setHeaderFrom(_thisAddress); +} + +boolean RF22Datagram::sendto(uint8_t* buf, uint8_t len, uint8_t address) +{ + setHeaderTo(address); + return send(buf, len); +} + +boolean RF22Datagram::recvfrom(uint8_t* buf, uint8_t* len, uint8_t* from, uint8_t* to, uint8_t* id, uint8_t* flags) +{ + if (from) *from = headerFrom(); + if (to) *to = headerTo(); + if (id) *id = headerId(); + if (flags) *flags = headerFlags(); + return recv(buf, len); +} + + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22Datagram.h Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,77 @@ +// RF22Datagram.h +// Author: Mike McCauley (mikem@open.com.au) +// Copyright (C) 2011 Mike McCauley +// $Id: RF22Datagram.h,v 1.3 2011/02/15 01:18:03 mikem Exp $ +// ported to mbed by Karl Zweimueller + +#ifndef RF22Datagram_h +#define RF22Datagram_h + +#include <RF22.h> + +///////////////////////////////////////////////////////////////////// +/// \class RF22Datagram RF22Datagram.h <RF22Datagram.h> +/// \brief RF22 subclass for addressed, unreliable messages +/// +/// Extends RF22 to define addressed, unreliable datagrams. +/// Every node has an 8 bit address (defaults to 0). +/// Addresses (DEST and SRC) are 8 bit integers with an address of RF22_BROADCAST_ADDRESS (0xff) +/// reserved for broadcast. +/// +/// Part of the Arduino RF22 library for operating with HopeRF RF22 compatible transceivers +/// (see http://www.hoperf.com). +class RF22Datagram : public RF22 +{ +public: + /// Constructor. + /// \param[in] thisAddress The address to assign to this node. Defaults to 0 + /// \param[in] slaveSelectPin the Arduino pin number of the output to use to select the RF22 before + /// accessing it + /// \param[in] interrupt The interrupt number to use. Default is interrupt 0 (Arduino input pin 2) + RF22Datagram(uint8_t thisAddress ,PinName slaveSelectPin , PinName mosi, PinName miso, PinName sclk, PinName interrupt ); + + /// Initialises this instance and the radio module connected to it. + /// Overrides the init() function in RF22 + boolean init(); + + /// Sets the address of this node. Defaults to 0. + /// This will be used to set the FROM address of all messages sent by this node. + /// If all the nodes leave the address unset (ie 0), + /// In a conventional multinode system, all nodes will have a unique address + /// (which you could store in EEPROM). + /// \param[in] thisAddress The address of this node + void setThisAddress(uint8_t thisAddress); + + /// Sends a message to the node(s) with the given address + /// RF22_BROADCAST_ADDRESS is a valid address which will cause the message + /// to be accepted by all RF22Datagram nodes within range. + /// \param[in] buf Pointer to the binary message to send + /// \param[in] len Number of octets to send + /// \param[in] address The address to send the message to. + /// \return true if the message was transmitted. + boolean sendto(uint8_t* buf, uint8_t len, uint8_t address); + + /// Turns the receiver on if it not already on. + /// If there is a valid message available for this node, copy it to buf and return true + /// The SRC address is placed in *from if present and not NULL. + /// The DEST address is placed in *to if present and not NULL. + /// If a message is copied, *len is set to the length. + /// You should be sure to call this function frequently enough to not miss any messages + /// It is recommended that you call it in your main loop. + /// \param[in] buf Location to copy the received message + /// \param[in,out] len Pointer to available space in buf. Set to the actual number of octets copied. + /// \param[in] from If present and not NULL, the referenced uint8_t will be set to the FROM address + /// \param[in] to If present and not NULL, the referenced uint8_t will be set to the TO address + /// \param[in] id If present and not NULL, the referenced uint8_t will be set to the ID + /// \param[in] flags If present and not NULL, the referenced uint8_t will be set to the FLAGS + /// (not just those addressed to this node). + /// \return true if a valid message was copied to buf + boolean recvfrom(uint8_t* buf, uint8_t* len, uint8_t* from = NULL, uint8_t* to = NULL, uint8_t* id = NULL, uint8_t* flags = NULL); + +protected: + /// The address of this node. Defaults to 0. + uint8_t _thisAddress; + +}; + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22Mesh.cpp Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,241 @@ +// RF22Mesh.cpp +// +// Define addressed datagram +// +// Part of the Arduino RF22 library for operating with HopeRF RF22 compatible transceivers +// (see http://www.hoperf.com) +// RF22Datagram will be received only by the addressed node or all nodes within range if the +// to address is RF22_BROADCAST_ADDRESS +// +// Author: Mike McCauley (mikem@open.com.au) +// Copyright (C) 2011 Mike McCauley +// $Id: RF22Mesh.cpp,v 1.4 2011/02/15 04:51:59 mikem Exp $ +// ported to mbed by Karl Zweimueller + +#include <mbed.h> +#include <RF22Mesh.h> +//#include <SPI.h> + + +uint8_t RF22Mesh::_tmpMessage[RF22_ROUTER_MAX_MESSAGE_LEN]; + +//////////////////////////////////////////////////////////////////// +// Constructors +RF22Mesh::RF22Mesh(uint8_t thisAddress ,PinName slaveSelectPin , PinName mosi, PinName miso, PinName sclk, PinName interrupt ) + : RF22Router(thisAddress, slaveSelectPin, mosi, miso, sclk, interrupt ) +{ +} + +//////////////////////////////////////////////////////////////////// +// Public methods + +//////////////////////////////////////////////////////////////////// +// Discovers a route to the destination (if necessary), sends and +// waits for delivery to the next hop (but not for delivery to the final destination) +uint8_t RF22Mesh::sendtoWait(uint8_t* buf, uint8_t len, uint8_t address) +{ + if (len > RF22_MESH_MAX_MESSAGE_LEN) + return RF22_ROUTER_ERROR_INVALID_LENGTH; + + RoutingTableEntry* route = getRouteTo(address); + if (!route && !doArp(address)) + return RF22_ROUTER_ERROR_NO_ROUTE; + + // Now have a route. Contruct an applicaiotn layer message and dend it via that route + MeshApplicationMessage* a = (MeshApplicationMessage*)&_tmpMessage; + a->header.msgType = RF22_MESH_MESSAGE_TYPE_APPLICATION; + memcpy(a->data, buf, len); + return RF22Router::sendtoWait(_tmpMessage, sizeof(RF22Mesh::MeshMessageHeader) + len, address); +} + +//////////////////////////////////////////////////////////////////// +boolean RF22Mesh::doArp(uint8_t address) +{ + // Need to discover a route + // Broadcast a route discovery message with nothing in it + MeshRouteDiscoveryMessage* p = (MeshRouteDiscoveryMessage*)&_tmpMessage; + p->header.msgType = RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST; + p->destlen = 1; + p->dest = address; // Who we are looking for + uint8_t error = RF22Router::sendtoWait((uint8_t*)p, sizeof(RF22Mesh::MeshMessageHeader) + 2, RF22_BROADCAST_ADDRESS); + if (error != RF22_ROUTER_ERROR_NONE) + return false; + + // Wait for a reply, which will be unicast back to us + // It will contain the complete route to the destination + uint8_t messageLen = sizeof(_tmpMessage); + // FIXME: timeout should be configurable + Timer t; + t.start(); + unsigned long endtime = t.read_ms() + 4000; + while (t.read_ms() < endtime) + { + if (RF22Router::recvfromAck(_tmpMessage, &messageLen)) + { + if ( messageLen > 1 + && p->header.msgType == RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE) + { + MeshRouteDiscoveryMessage* d = (MeshRouteDiscoveryMessage*)p; + // Got a reply, now add the next hop to the dest to the routing table + // The first hop taken is the first octet + addRouteTo(address, headerFrom()); + return true; + } + } + } + return false; +} + +//////////////////////////////////////////////////////////////////// +// Called by RF22Router::recvfromAck whenever a message goes past +void RF22Mesh::peekAtMessage(RoutedMessage* message, uint8_t messageLen) +{ + MeshMessageHeader* m = (MeshMessageHeader*)message->data; + if ( messageLen > 1 + && m->msgType == RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE) + { + // This is a unicast RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE messages + // being routed back to the originator here. Want to scrape some routing data out of the response + // We can find the routes to all the nodes between here and the responding node + MeshRouteDiscoveryMessage* d = (MeshRouteDiscoveryMessage*)message->data; + addRouteTo(d->dest, headerFrom()); + uint8_t numRoutes = messageLen - sizeof(RoutedMessageHeader) - sizeof(MeshMessageHeader) - 2; + uint8_t i; + // Find us in the list of nodes that were traversed to get to the responding node + for (i = 0; i < numRoutes; i++) + if (d->route[i] == _thisAddress) + break; + i++; + while (i++ < numRoutes) + addRouteTo(d->route[i], headerFrom()); + } + else if ( messageLen > 1 + && m->msgType == RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE) + { + MeshRouteFailureMessage* d = (MeshRouteFailureMessage*)message->data; + deleteRouteTo(d->dest); + } +} + +//////////////////////////////////////////////////////////////////// +// This is called when a message is to be delivered to the next hop +uint8_t RF22Mesh::route(RoutedMessage* message, uint8_t messageLen) +{ + uint8_t from = headerFrom(); // Might get clobbered during call to superclass route() + uint8_t ret = RF22Router::route(message, messageLen); + if ( ret == RF22_ROUTER_ERROR_NO_ROUTE + || ret == RF22_ROUTER_ERROR_UNABLE_TO_DELIVER) + { + // Cant deliver to the next hop. Delete the route + deleteRouteTo(message->header.dest); + if (message->header.source != _thisAddress) + { + // This is being proxied, so tell the originator about it + MeshRouteFailureMessage* p = (MeshRouteFailureMessage*)&_tmpMessage; + p->header.msgType = RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE; + p->dest = message->header.dest; // Who you were trying to deliver to + // Make sure there is a route back towards whoever sent the original message + addRouteTo(message->header.source, from); + ret = RF22Router::sendtoWait((uint8_t*)p, sizeof(RF22Mesh::MeshMessageHeader) + 1, message->header.source); + } + } + return ret; +} + +//////////////////////////////////////////////////////////////////// +// Subclasses may want to override +boolean RF22Mesh::isPhysicalAddress(uint8_t* address, uint8_t addresslen) +{ + // Can only handle physical addresses 1 octet long, which is the physical node address + return addresslen == 1 && address[0] == _thisAddress; +} + +//////////////////////////////////////////////////////////////////// +boolean RF22Mesh::recvfromAck(uint8_t* buf, uint8_t* len, uint8_t* source, uint8_t* dest, uint8_t* id, uint8_t* flags) +{ + uint8_t tmpMessageLen = sizeof(_tmpMessage); + uint8_t _source; + uint8_t _dest; + uint8_t _id; + uint8_t _flags; + if (RF22Router::recvfromAck(_tmpMessage, &tmpMessageLen, &_source, &_dest, &_id, &_flags)) + { + MeshMessageHeader* p = (MeshMessageHeader*)&_tmpMessage; + + if ( tmpMessageLen >= 1 + && p->msgType == RF22_MESH_MESSAGE_TYPE_APPLICATION) + { + MeshApplicationMessage* a = (MeshApplicationMessage*)p; + // Handle application layer messages, presumably for our caller + if (source) *source = _source; + if (dest) *dest = _dest; + if (id) *id = _id; + if (flags) *flags = _flags; + uint8_t msgLen = tmpMessageLen - sizeof(MeshMessageHeader); + if (*len > msgLen) + *len = msgLen; + memcpy(buf, a->data, *len); + + return true; + } + else if ( _dest == RF22_BROADCAST_ADDRESS + && tmpMessageLen > 1 + && p->msgType == RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST) + { + MeshRouteDiscoveryMessage* d = (MeshRouteDiscoveryMessage*)p; + // Handle Route discovery requests + // Message is an array of node addresses the route request has already passed through + // If it originally came from us, ignore it + if (_source == _thisAddress) + return false; + + uint8_t numRoutes = tmpMessageLen - sizeof(MeshMessageHeader) - 2; + uint8_t i; + // Are we already mentioned? + for (i = 0; i < numRoutes; i++) + if (d->route[i] == _thisAddress) + return false; // Already been through us. Discard + + // Hasnt been past us yet, record routes back to the earlier nodes + addRouteTo(_source, headerFrom()); // The originator + for (i = 0; i < numRoutes; i++) + addRouteTo(d->route[i], headerFrom()); + if (isPhysicalAddress(&d->dest, d->destlen)) + { + // This route discovery is for us. Unicast the whole route back to the originator + // as a RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE + // We are certain to have a route there, becuase we just got it + d->header.msgType = RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE; + RF22Router::sendtoWait((uint8_t*)d, tmpMessageLen, _source); + } + else if (i < _max_hops) + { + // Its for someone else, rebroadcast it, after adding ourselves to the list + d->route[numRoutes] = _thisAddress; + tmpMessageLen++; + // Have to impersonate the source + // REVISIT: if this fails what can we do? + RF22Router::sendtoWait(_tmpMessage, tmpMessageLen, RF22_BROADCAST_ADDRESS, _source); + } + } + } + return false; +} + +//////////////////////////////////////////////////////////////////// +boolean RF22Mesh::recvfromAckTimeout(uint8_t* buf, uint8_t* len, uint16_t timeout, uint8_t* from, uint8_t* to, uint8_t* id, uint8_t* flags) +{ + Timer t; + + t.start(); + unsigned long endtime = t.read_ms() + timeout; + while (t.read_ms() < endtime) + { + if (recvfromAck(buf, len, from, to, id, flags)) + return true; + } + return false; +} + + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22Mesh.h Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,238 @@ +// RF22Mesh.h +// +// Author: Mike McCauley (mikem@open.com.au) +// Copyright (C) 2011 Mike McCauley +// $Id: RF22Mesh.h,v 1.3 2011/02/15 04:51:59 mikem Exp $ +// ported to mbed by Karl Zweimueller + +#ifndef RF22Mesh_h +#define RF22Mesh_h + +#include <RF22Router.h> + +// Types of RF22Mesh message, used to set msgType in the RF22MeshHeader +#define RF22_MESH_MESSAGE_TYPE_APPLICATION 0 +#define RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST 1 +#define RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE 2 +#define RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE 3 + +///////////////////////////////////////////////////////////////////// +/// \class RF22Mesh RF22Mesh.h <RF22Mesh.h> +/// \brief RF22 subclass for sending addressed, optionally acknowledged datagrams +/// multi-hop routed across a network, with automatic route discovery +/// +/// Extends RF22Router to add automatic route discovery within a mesh of adjacent nodes, +/// and route signalling. +/// +/// Unlike RF22Router, RF22Mesh can be used in networks where the network topology is fluid, or unknown, +/// or if nodes can mode around or go in or out of service. When a node wants to send a +/// message to another node, it will automcatically discover a route to the destaintion node and use it. +/// If the route becomes unavailable, a new route will be discovered. +/// +/// \par Route Discovery +/// +/// When a RF22Mesh mesh node is initialised, it doe not know any routes to any other nodes +/// (see RF22Router for details on route and the routing table). +/// When you attempt to send a message with sendtoWait, will first check to see if there is a route to the +/// destinastion node in the routing tabl;e. If not, it wil initialite 'Route Discovery'. +/// When a node needs to discover a route to another node, it broadcasts MeshRouteDiscoveryMessage +/// with a message type of RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST. +/// Any node that receives such a request checks to see if it is a request for a route to itself +/// (in which case it makes a unicast reply to the originating node with a +/// MeshRouteDiscoveryMessage +/// with a message type of RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE) +/// otherwise it rebroadcasts the request, after adding itself to the list of nodes visited so +/// far by the request. +/// +/// If a node receives a RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST that already has itself +/// listed in the visited nodes, it knows it has already seen and rebroadcast this request, +/// and threfore ignores it. This prevents broadcast storms. +/// When a node receives a RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST it can use the list of +/// nodes aready visited to deduce routes back towards the originating (requesting node). +/// This also means that when the destination node of the request is reached, it (and all +/// the previous nodes the request visited) will have a route back to the originating node. +/// This means the unicast RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE +/// reply will be routed successfully back to the original route requester. +/// +/// The RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE sent back by the destination node contains +/// the full list of nodes that were visited on the way to the destination. +/// Therefore, intermediate nodes that route the reply back towards the originating node can use the +/// node list in the reply to deduce routes to all the nodes between it and the destination node. +/// +/// Therefore, RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST and +/// RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE together ensure the original requester and all +/// the intermediate nodes know how to route to the source and destination nodes and every node along the path. +/// +/// Note that there is a race condition here that can effect routing on multipath routes. For example, +/// if the route to the destination can traverse several paths, last reply from the destination +/// will be the one used. +/// +/// \par Route Failure +/// +/// RF22Router (and therefore RF22Mesh) use reliable hop-to-hop delivery of messages using +/// hop-to-hop acknowledgements, but not end-to-end acknowledgements. When sendtoWait() returns, +/// you know that the message has been delivered to the next hop, but not if it is (or even if it can be) +/// delivered to the destination node. If during the course of hop-to-hop routing of a message, +/// one of the intermediate RF22Mesh nodes finds it cannot deliver to the next hop +/// (say due to a lost route or no acknwledgement from the next hop), it replies to the +/// originator with a unicast MeshRouteFailureMessage RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE message. +/// Intermediate nodes (on the way beack to the originator) +/// and the originating node use this message to delete the route to the destination +/// node of the original message. This means that if a route to a destination becomes unusable +/// (either because an intermediate node is off the air, or has moved out of range) a new route +/// will be established the next time a message is to be sent. +/// +/// \par Message Format +/// +/// RF22Mesh uses a number of message formats layered on top of RF22Router: +/// - MeshApplicationMessage (message type RF22_MESH_MESSAGE_TYPE_APPLICATION). +/// Carries an application layer message for the caller of RF22Mesh +/// - MeshRouteDiscoveryMessage (message types RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST +/// and RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_RESPONSE). Carries Route Discovery messages +/// (broadcast) and replies (unicast). +/// - MeshRouteFailureMessage (message type RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE) Informs nodes of +/// route failures. +/// +/// Part of the Arduino RF22 library for operating with HopeRF RF22 compatible transceivers +/// (see http://www.hoperf.com) +class RF22Mesh : public RF22Router +{ +public: + + /// The maximum length permitted for the application payload data in a RF22Mesh message + #define RF22_MESH_MAX_MESSAGE_LEN (RF22_ROUTER_MAX_MESSAGE_LEN - sizeof(RF22Mesh::MeshMessageHeader)) + + /// Structure of the basic RF22Mesh header. + typedef struct + { + uint8_t msgType; ///< Type of RF22Mesh message, one of RF22_MESH_MESSAGE_TYPE_* + } MeshMessageHeader; + + /// Signals an application layer message for the caller of RF22Mesh + typedef struct + { + MeshMessageHeader header; ///< msgType = RF22_MESH_MESSAGE_TYPE_APPLICATION + uint8_t data[RF22_MESH_MAX_MESSAGE_LEN]; ///< Applicaiotn layer payload data + } MeshApplicationMessage; + + /// Signals a route discovery request or reply + /// At present only supports physical dest addresses of length 1 octet + typedef struct + { + MeshMessageHeader header; ///< msgType = RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_* + uint8_t destlen; ///< Reserved. Must be 1. + uint8_t dest; ///< The address of the destination node whose route is being sought + uint8_t route[RF22_MESH_MAX_MESSAGE_LEN - 1]; ///< List of node addresses visited so far. Length is implcit + } MeshRouteDiscoveryMessage; + + /// Signals a route failure + typedef struct + { + MeshMessageHeader header; ///< msgType = RF22_MESH_MESSAGE_TYPE_ROUTE_FAILURE + uint8_t dest; ///< The address of the destination towards which the route failed + } MeshRouteFailureMessage; + + /// Constructor. + /// \param[in] thisAddress The address to assign to this node. Defaults to 0 + /// \param[in] slaveSelectPin the Arduino pin number of the output to use to select the RF22 before + /// accessing it + /// \param[in] interrupt The interrupt number to use. Default is interrupt 0 (Arduino input pin 2) + RF22Mesh(uint8_t thisAddress ,PinName slaveSelectPin , PinName mosi, PinName miso, PinName sclk, PinName interrupt ); + + /// Sends a message to the destination node. Initialises the RF22Router message header + /// (the SOURCE address is set to the address of this node, HOPS to 0) and calls + /// route() which looks up in the routing table the next hop to deliver to. + /// If no route is known, initiates route discovery and waits for a reply. + /// Then sends the message to the next hop + /// Then waits for an acknowledgement from the next hop + /// (but not from the destination node (if that is different). + /// \param [in] buf The application message data + /// \param [in] len Number of octets in the application message data. 0 is permitted + /// \param [in] dest The destination node address + /// \return The result code: + /// - RF22_ROUTER_ERROR_NONE Message was routed and deliverd to the next hop + /// (not necessarily to the final dest address) + /// - RF22_ROUTER_ERROR_NO_ROUTE There was no route for dest in the local routing table + /// - RF22_ROUTER_ERROR_UNABLE_TO_DELIVER Noyt able to deliver to the next hop + /// (usually because it dod not acknowledge due to being off the air or out of range + uint8_t sendtoWait(uint8_t* buf, uint8_t len, uint8_t dest); + + /// Starts the receiver if it is not running already. + /// If there is a valid application layer message available for this node (or RF22_BROADCAST_ADDRESS), + /// send an acknowledgement to the last hop + /// address (blocking until this is complete), then copy the application message payload data + /// to buf and return true + /// else return false. + /// If a message is copied, *len is set to the length.. + /// If from is not NULL, the originator SOURCE address is placed in *source. + /// If to is not NULL, the DEST address is placed in *dest. This might be this nodes address or + /// RF22_BROADCAST_ADDRESS. + /// This is the preferred function for getting messages addressed to this node. + /// If the message is not a broadcast, acknowledge to the sender before returning. + /// \param[in] buf Location to copy the received message + /// \param[in,out] len Available space in buf. Set to the actual number of octets copied. + /// \param[in] source If present and not NULL, the referenced uint8_t will be set to the SOURCE address + /// \param[in] dest If present and not NULL, the referenced uint8_t will be set to the DEST address + /// \param[in] id If present and not NULL, the referenced uint8_t will be set to the ID + /// \param[in] flags If present and not NULL, the referenced uint8_t will be set to the FLAGS + /// (not just those addressed to this node). + /// \return true if a valid message was recvived for this node and copied to buf + boolean recvfromAck(uint8_t* buf, uint8_t* len, uint8_t* source = NULL, uint8_t* dest = NULL, uint8_t* id = NULL, uint8_t* flags = NULL); + + /// Starts the receiver if it is not running already. + /// Similar to recvfromAck(), this will block until either a valid application layer + /// message available for this node + /// or the timeout expires. + /// \param[in] buf Location to copy the received message + /// \param[in,out] len Available space in buf. Set to the actual number of octets copied. + /// \param[in] timeout Maximum time to wait in milliseconds + /// \param[in] source If present and not NULL, the referenced uint8_t will be set to the SOURCE address + /// \param[in] dest If present and not NULL, the referenced uint8_t will be set to the DEST address + /// \param[in] id If present and not NULL, the referenced uint8_t will be set to the ID + /// \param[in] flags If present and not NULL, the referenced uint8_t will be set to the FLAGS + /// (not just those addressed to this node). + /// \return true if a valid message was copied to buf + boolean recvfromAckTimeout(uint8_t* buf, uint8_t* len, uint16_t timeout, uint8_t* source = NULL, uint8_t* dest = NULL, uint8_t* id = NULL, uint8_t* flags = NULL); + +protected: + + /// Internal function that inspects messages being received and adjusts the routing table if necessary. + /// Called by recvfromAck() immediately after it gets the message from RF22ReliableDatagram + /// \param [in] message Pointer to the RF22Router message that was received. + /// \param [in] messageLen Length of message in octets + virtual void peekAtMessage(RoutedMessage* message, uint8_t messageLen); + + /// Internal function that inspects messages being received and adjusts the routing table if necessary. + /// This is virtual, which lets subclasses override or intercept the route() function. + /// Called by sendtoWait after the message header has been filled in. + /// \param [in] message Pointer to the RF22Router message to be sent. + /// \param [in] messageLen Length of message in octets + virtual uint8_t route(RoutedMessage* message, uint8_t messageLen); + + /// Try to resolve a route for the given address. Blocks while discovering the route + /// which may take up to 4000 msec. + /// Virtual so subclasses can override. + /// \param [in] address The physical addres to resolve + /// \return true if the address was resolved and added to the local routing table + virtual boolean doArp(uint8_t address); + + /// Tests if the given address of length addresslen is indentical to the + /// physical addres of this node. + /// RF22Mesh always ikmplements p[hysical addresses as the 1 octet address of the node + /// given by _thisAddress + /// Called by recvfromAck() to test whether a RF22_MESH_MESSAGE_TYPE_ROUTE_DISCOVERY_REQUEST + /// is for this node. + /// Subclasses may want to override to implemnt mode complicated or longer physical addresses + /// \param [in] address Address of the pyysical addres being tested + /// \param [in] addresslen Lengthof the address in bytes + /// \return true if the physical address of this node is identical to address + virtual boolean isPhysicalAddress(uint8_t* address, uint8_t addresslen); + +private: + /// Temporary mesage buffer + static uint8_t _tmpMessage[RF22_ROUTER_MAX_MESSAGE_LEN]; + +}; + +#endif +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22ReliableDatagram.cpp Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,171 @@ +// RF22ReliableDatagram.cpp +// +// Define addressed datagram +// +// Part of the Arduino RF22 library for operating with HopeRF RF22 compatible transceivers +// (see http://www.hoperf.com) +// RF22Datagram will be received only by the addressed node or all nodes within range if the +// to address is RF22_BROADCAST_ADDRESS +// +// Author: Mike McCauley (mikem@open.com.au) +// Copyright (C) 2011 Mike McCauley +// $Id: RF22ReliableDatagram.cpp,v 1.8 2011/02/15 01:18:03 mikem Exp $ +// ported to mbed by Karl Zweimueller + +#include <RF22ReliableDatagram.h> +//#include <SPI.h> + + +//////////////////////////////////////////////////////////////////// +// Constructors +RF22ReliableDatagram::RF22ReliableDatagram(uint8_t thisAddress ,PinName slaveSelectPin , PinName mosi, PinName miso, PinName sclk, PinName interrupt ) + : RF22Datagram(thisAddress ,slaveSelectPin , mosi, miso, sclk, interrupt ) +{ + _retransmissions = 0; + _lastSequenceNumber = 0; + _timeout = 200; + _retries = 3; +} + +//////////////////////////////////////////////////////////////////// +// Public methods +void RF22ReliableDatagram::setTimeout(uint16_t timeout) +{ + _timeout = timeout; +} + +//////////////////////////////////////////////////////////////////// +void RF22ReliableDatagram::setRetries(uint8_t retries) +{ + _retries = retries; +} + +//////////////////////////////////////////////////////////////////// +boolean RF22ReliableDatagram::sendtoWait(uint8_t* buf, uint8_t len, uint8_t address) +{ + // Assemble the message + uint8_t thisSequenceNumber = ++_lastSequenceNumber; + + Timer t; + + uint8_t retries = 0; + while (retries++ <= _retries) + { + setHeaderId(thisSequenceNumber); + setHeaderFlags(0); + sendto(buf, len, address); + waitPacketSent(); + + // Never wait for ACKS to broadcasts: + if (address == RF22_BROADCAST_ADDRESS) + return true; + + if (retries > 1) + _retransmissions++; + t.start(); + unsigned long thisSendTime = t.read_ms(); // Timeout does not include original transmit time + + + // Compute a new timeout, random between _timeout and _timeout*2 + // This is to prevent collissions on every retransmit + // if 2 nodes try to transmit at the same time + uint16_t timeout = _timeout + (_timeout * rand()); + while (t.read_ms() < (thisSendTime + timeout)) + { + if (available()) + { + clearRxBuf(); // Not using recv, so clear it ourselves + uint8_t from = headerFrom(); + uint8_t to = headerTo(); + uint8_t id = headerId(); + uint8_t flags = headerFlags(); + // Now have a message: is it our ACK? + if ( from == address + && to == _thisAddress + && (flags & RF22_FLAGS_ACK) + && (id == thisSequenceNumber)) + { + // Its the ACK we are waiting for + return true; + } + else if ( !(flags & RF22_FLAGS_ACK) + && (id == _seenIds[from])) + { + // This is a request we have already received. ACK it again + acknowledge(id, from); + } + // Else discard it + } + // Not the one we are waiting for, maybe keep waiting until timeout exhausted + } + // Timeout exhausted, maybe retry + } + return false; +} + +//////////////////////////////////////////////////////////////////// +boolean RF22ReliableDatagram::recvfromAck(uint8_t* buf, uint8_t* len, uint8_t* from, uint8_t* to, uint8_t* id, uint8_t* flags) +{ + uint8_t _from; + uint8_t _to; + uint8_t _id; + uint8_t _flags; + // Get the message before its clobbered by the ACK (shared rx anfd tx buffer in RF22 + if (available() && recvfrom(buf, len, &_from, &_to, &_id, &_flags)) + { + // Never ACK an ACK + if (!(_flags & RF22_FLAGS_ACK)) + { + // Its a normal message for this node, not an ACK + if (_to != RF22_BROADCAST_ADDRESS) + { + // Its not a broadcast, so ACK it + // Acknowledge message with ACK set in flags and ID set to received ID + acknowledge(_id, _from); + } + // If we have not seen this message before, then we are interested in it + if (_id != _seenIds[_from]) + { + if (from) *from = _from; + if (to) *to = _to; + if (id) *id = _id; + if (flags) *flags = _flags; + _seenIds[_from] = _id; + return true; + } + // Else just re-ack it and wait for a new one + } + } + // No message for us available + return false; +} + +boolean RF22ReliableDatagram::recvfromAckTimeout(uint8_t* buf, uint8_t* len, uint16_t timeout, uint8_t* from, uint8_t* to, uint8_t* id, uint8_t* flags) +{ + Timer t; + unsigned long endtime = t.read_ms() + timeout; + while (t.read_ms() < endtime) + if (recvfromAck(buf, len, from, to, id, flags)) + return true; + return false; +} + +uint16_t RF22ReliableDatagram::retransmissions() +{ + return _retransmissions; +} + +void RF22ReliableDatagram::acknowledge(uint8_t id, uint8_t from) +{ + setHeaderId(id); + setHeaderFlags(RF22_FLAGS_ACK); + // We would prefer to send a zero length ACK, + // but if an RF22 receives a 0 length message with a CRC error, it will never receive + // a 0 length message again, until its reset, which makes everything hang :-( + // So we send an ACK of 1 octet + // REVISIT: should we send the RSSI for the information of the sender? + uint8_t ack = '!'; + sendto(&ack, sizeof(ack), from); + waitPacketSent(); +} +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22ReliableDatagram.h Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,151 @@ +// RF22ReliableDatagram.h +// +// Author: Mike McCauley (mikem@open.com.au) +// Copyright (C) 2011 Mike McCauley +// $Id: RF22ReliableDatagram.h,v 1.6 2011/02/15 01:18:03 mikem Exp $ +// ported to mbed by Karl Zweimueller + +#ifndef RF22ReliableDatagram_h +#define RF22ReliableDatagram_h + +#include <RF22Datagram.h> + +// The acknowledgement bit in the FLAGS +#define RF22_FLAGS_ACK 0x80 + +///////////////////////////////////////////////////////////////////// +/// \class RF22ReliableDatagram RF22ReliableDatagram.h <RF22ReliableDatagram.h> +/// \brief RF22 subclass for sending addressed, acknowledged, retransmitted datagrams. +/// +/// Extends RF22Datagram to define addressed, reliable datagrams with acknowledgement and retransmission. +/// Based on RF22Datagram, adds flags and sequence numbers. RF22ReliableDatagram is reliable in the sense +/// that messages are acknowledged, and unacknowledged messages are retransmitted until acknowledged or the +/// retries are exhausted. +/// When addressed messages are sent (by sendtoWait()), it will wait for an ack, and retransmit +/// after timeout until an ack is received or retries are exhausted. +/// When addressed messages are collected by the application (by recvfromAck()), +/// an acknowledgement is automatically sent. +/// +/// The retransmit timeout is randomly varied between timeout and timeout*2 to prevent collisions on all +/// retries when 2 nodes happen to start sending at the same time . +/// +/// Each new message sent by sendtoWait() has its ID incremented. +/// +/// An ack consists of a message with: +/// - TO set to the from address of the original message +/// - FROM set to this node address +/// - ID set to the ID of the original message +/// - FLAGS with the RF22_FLAGS_ACK bit set +/// +/// Part of the Arduino RF22 library for operating with HopeRF RF22 compatible transceivers +/// (see http://www.hoperf.com) +class RF22ReliableDatagram : public RF22Datagram +{ +public: + /// Constructor. + /// \param[in] thisAddress The address to assign to this node. Defaults to 0 + /// \param[in] slaveSelectPin the Arduino pin number of the output to use to select the RF22 before + /// accessing it + /// \param[in] interrupt The interrupt number to use. Default is interrupt 0 (Arduino input pin 2) + RF22ReliableDatagram(uint8_t thisAddress ,PinName slaveSelectPin , PinName mosi, PinName miso, PinName sclk, PinName interrupt ); + + /// Sets the minimum retransmit timeout. If sendtoWait is waiting for an ack + /// longer than this time (in milliseconds), + /// it will retransmit the message. Defaults to 200ms. The timeout is measured from the end of + /// transmission of the message. It must be at least longer than the the transmit + /// time of the acknowledgement (6 octets) plus the latency/poll time of the receiver. + /// The actual timeout is randomly varied between timeout and timeout*2. + /// \param[in] timeout The new timeout period in milliseconds + void setTimeout(uint16_t timeout); + + /// Sets the max number of retries. Defaults to 3. If set to 0, the message will only be sent once. + /// sendtoWait will give up and return false if there is no ack received after all transmissions time out. + /// param[in] retries The maximum number a retries. + void setRetries(uint8_t retries); + + /// Send the message and waits for an ack. Returns true if an acknowledgement is received. + /// Synchronous: any message other than the desired ACK received while waiting is discarded. + /// Blocks until an ACK is received or all retries are exhausted (ie up to retries*timeout milliseconds). + /// \param[in] address The address to send the message to. + /// \param[in] buf Pointer to the binary message to send + /// \param[in] len Number of octets to send + /// \return true if the message was transmitted and an acknowledgement was received. + boolean sendtoWait(uint8_t* buf, uint8_t len, uint8_t address); + + /// If there is a valid message available for this node, send an acknowledgement to the SRC + /// address (blocking until this is complete), then copy the message to buf and return true + /// else return false. + /// If a message is copied, *len is set to the length.. + /// If from is not NULL, the SRC address is placed in *from. + /// If to is not NULL, the DEST address is placed in *to. + /// This is the preferred function for getting messages addressed to this node. + /// If the message is not a broadcast, acknowledge to the sender before returning. + /// You should be sure to call this function frequently enough to not miss any messages + /// It is recommended that you call it in your main loop. + /// \param[in] buf Location to copy the received message + /// \param[in,out] len Available space in buf. Set to the actual number of octets copied. + /// \param[in] from If present and not NULL, the referenced uint8_t will be set to the SRC address + /// \param[in] to If present and not NULL, the referenced uint8_t will be set to the DEST address + /// \param[in] id If present and not NULL, the referenced uint8_t will be set to the ID + /// \param[in] flags If present and not NULL, the referenced uint8_t will be set to the FLAGS + /// (not just those addressed to this node). + /// \return true if a valid message was copied to buf + boolean recvfromAck(uint8_t* buf, uint8_t* len, uint8_t* from = NULL, uint8_t* to = NULL, uint8_t* id = NULL, uint8_t* flags = NULL); + + /// Similar to recvfromAck(), this will block until either a valid message available for this node + /// or the timeout expires. Starts the receiver automatically. + /// You should be sure to call this function frequently enough to not miss any messages + /// It is recommended that you call it in your main loop. + /// \param[in] buf Location to copy the received message + /// \param[in,out] len Available space in buf. Set to the actual number of octets copied. + /// \param[in] timeout Maximum time to wait in milliseconds + /// \param[in] from If present and not NULL, the referenced uint8_t will be set to the SRC address + /// \param[in] to If present and not NULL, the referenced uint8_t will be set to the DEST address + /// \param[in] id If present and not NULL, the referenced uint8_t will be set to the ID + /// \param[in] flags If present and not NULL, the referenced uint8_t will be set to the FLAGS + /// (not just those addressed to this node). + /// \return true if a valid message was copied to buf + boolean recvfromAckTimeout(uint8_t* buf, uint8_t* len, uint16_t timeout, uint8_t* from = NULL, uint8_t* to = NULL, uint8_t* id = NULL, uint8_t* flags = NULL); + + /// Returns the number of retransmissions + /// we have had to send + /// \return The number of retransmissions since initialisation. + uint16_t retransmissions(); + +protected: + /// Send an ACK for the message id to the given from address + /// Blocks until the ACK has been sent + void acknowledge(uint8_t id, uint8_t from); + + /// Checks whether the message currently in the Rx buffer is a new message, not previously received + /// based on the from address and the sequence. If it is new, it is acknowledged and returns true + /// \return true if there is a message received and it is a new message + boolean haveNewMessage(); + +private: + /// Count of retransmissions we have had to send + uint16_t _retransmissions; + + /// The last sequence number to be used + /// Defaults to 0 + uint8_t _lastSequenceNumber; + + // Retransmit timeout (milliseconds) + /// Defaults to 200 + uint16_t _timeout; + + // Retries (0 means one try only) + /// Defaults to 3 + uint8_t _retries; + + /// Array of the last seen sequence number indexed by node address that sent it + /// It is used for duplicate detection. Duplicated messages are re-acknowledged when received + /// (this is generally due to lost ACKs, causing the sender to retransmit, even though we have already + /// received that message) + uint8_t _seenIds[256]; + + +}; + +#endif +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22Router.cpp Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,308 @@ +// RF22Router.cpp +// +// Define addressed datagram +// +// Part of the Arduino RF22 library for operating with HopeRF RF22 compatible transceivers +// (see http://www.hoperf.com) +// RF22Datagram will be received only by the addressed node or all nodes within range if the +// to address is RF22_BROADCAST_ADDRESS +// +// Author: Mike McCauley (mikem@open.com.au) +// Copyright (C) 2011 Mike McCauley +// $Id: RF22Router.cpp,v 1.6 2011/02/15 01:18:03 mikem Exp $ +// ported to mbed by Karl Zweimueller + +#include <mbed.h> +#include <RF22Router.h> +//#include <SPI.h> + + +RF22Router::RoutedMessage RF22Router::_tmpMessage; + +//////////////////////////////////////////////////////////////////// +// Constructors +RF22Router::RF22Router(uint8_t thisAddress ,PinName slaveSelectPin , PinName mosi, PinName miso, PinName sclk, PinName interrupt ) + : RF22ReliableDatagram(thisAddress, slaveSelectPin, mosi, miso, sclk, interrupt ) +{ + _max_hops = RF22_DEFAULT_MAX_HOPS; + clearRoutingTable(); +} + +//////////////////////////////////////////////////////////////////// +// Public methods +boolean RF22Router::init() +{ + boolean ret = RF22ReliableDatagram::init(); + if (ret) + _max_hops = RF22_DEFAULT_MAX_HOPS; + return ret; +} + +//////////////////////////////////////////////////////////////////// +void RF22Router::setMaxHops(uint8_t max_hops) +{ + _max_hops = max_hops; +} + +//////////////////////////////////////////////////////////////////// +void RF22Router::addRouteTo(uint8_t dest, uint8_t next_hop, uint8_t state) +{ + uint8_t i; + + // First look for an existing entry we can update + for (i = 0; i < RF22_ROUTING_TABLE_SIZE; i++) + { + if (_routes[i].dest == dest) + { + _routes[i].dest = dest; + _routes[i].next_hop = next_hop; + _routes[i].state = state; + return; + } + } + + // Look for an invalid entry we can use + for (i = 0; i < RF22_ROUTING_TABLE_SIZE; i++) + { + if (_routes[i].state == Invalid) + { + _routes[i].dest = dest; + _routes[i].next_hop = next_hop; + _routes[i].state = state; + return; + } + } + + // Need to make room for a new one + retireOldestRoute(); + // Should be an invalid slot now + for (i = 0; i < RF22_ROUTING_TABLE_SIZE; i++) + { + if (_routes[i].state == Invalid) + { + _routes[i].dest = dest; + _routes[i].next_hop = next_hop; + _routes[i].state = state; + } + } +} + +//////////////////////////////////////////////////////////////////// +RF22Router::RoutingTableEntry* RF22Router::getRouteTo(uint8_t dest) +{ + uint8_t i; + for (i = 0; i < RF22_ROUTING_TABLE_SIZE; i++) + if (_routes[i].dest == dest && _routes[i].state != Invalid) + return &_routes[i]; + return NULL; +} + +//////////////////////////////////////////////////////////////////// +void RF22Router::deleteRoute(uint8_t index) +{ + // Delete a route by copying following routes on top of it + memcpy(&_routes[index], &_routes[index+1], + sizeof(RoutingTableEntry) * (RF22_ROUTING_TABLE_SIZE - index - 1)); + _routes[RF22_ROUTING_TABLE_SIZE - 1].state = Invalid; +} + +#ifdef RF22_HAVE_SERIAL +//////////////////////////////////////////////////////////////////// +void RF22Router::printRoutingTable() +{ + uint8_t i; + for (i = 0; i < RF22_ROUTING_TABLE_SIZE; i++) + { + Serial.print(i, DEC); + Serial.print(" Dest: "); + Serial.print(_routes[i].dest, DEC); + Serial.print(" Next Hop: "); + Serial.print(_routes[i].next_hop, DEC); + Serial.print(" State: "); + Serial.println(_routes[i].state, DEC); + } +} +#endif + +//////////////////////////////////////////////////////////////////// +boolean RF22Router::deleteRouteTo(uint8_t dest) +{ + uint8_t i; + for (i = 0; i < RF22_ROUTING_TABLE_SIZE; i++) + { + if (_routes[i].dest == dest) + { + deleteRoute(i); + return true; + } + } + return false; +} + +//////////////////////////////////////////////////////////////////// +void RF22Router::retireOldestRoute() +{ + // We just obliterate the first in the table and clear the last + deleteRoute(0); +} + +//////////////////////////////////////////////////////////////////// +void RF22Router::clearRoutingTable() +{ + uint8_t i; + for (i = 0; i < RF22_ROUTING_TABLE_SIZE; i++) + _routes[i].state = Invalid; +} + + +uint8_t RF22Router::sendtoWait(uint8_t* buf, uint8_t len, uint8_t dest) +{ + return sendtoWait(buf, len, dest, _thisAddress); +} + +//////////////////////////////////////////////////////////////////// +// Waits for delivery to the next hop (but not for delivery to the final destination) +uint8_t RF22Router::sendtoWait(uint8_t* buf, uint8_t len, uint8_t dest, uint8_t source) +{ + if (((uint16_t)len + sizeof(RoutedMessageHeader)) > RF22_MAX_MESSAGE_LEN) + return RF22_ROUTER_ERROR_INVALID_LENGTH; + + // Construct a RF22 RouterMessage message + _tmpMessage.header.source = source; + _tmpMessage.header.dest = dest; + _tmpMessage.header.hops = 0; + _tmpMessage.header.id = _lastE2ESequenceNumber++; + _tmpMessage.header.flags = 0; + memcpy(_tmpMessage.data, buf, len); + + return route(&_tmpMessage, sizeof(RoutedMessageHeader)+len); +} + +//////////////////////////////////////////////////////////////////// +uint8_t RF22Router::route(RoutedMessage* message, uint8_t messageLen) +{ + // Reliably deliver it if possible. See if we have a route: + uint8_t next_hop = RF22_BROADCAST_ADDRESS; + if (message->header.dest != RF22_BROADCAST_ADDRESS) + { + RoutingTableEntry* route = getRouteTo(message->header.dest); + if (!route) + return RF22_ROUTER_ERROR_NO_ROUTE; + next_hop = route->next_hop; + } + + if (!RF22ReliableDatagram::sendtoWait((uint8_t*)message, messageLen, next_hop)) + return RF22_ROUTER_ERROR_UNABLE_TO_DELIVER; + + return RF22_ROUTER_ERROR_NONE; +} + +//////////////////////////////////////////////////////////////////// +// Subclasses may want to override this to peek at messages going past +void RF22Router::peekAtMessage(RoutedMessage* message, uint8_t messageLen) +{ + // Default does nothing +} + +//////////////////////////////////////////////////////////////////// +boolean RF22Router::recvfromAck(uint8_t* buf, uint8_t* len, uint8_t* source, uint8_t* dest, uint8_t* id, uint8_t* flags) +{ + uint8_t tmpMessageLen = sizeof(_tmpMessage); + uint8_t _from; + uint8_t _to; + uint8_t _id; + uint8_t _flags; + if (RF22ReliableDatagram::recvfromAck((uint8_t*)&_tmpMessage, &tmpMessageLen, &_from, &_to, &_id, &_flags)) + { + // Here we simulate networks with limited visibility between nodes + // so we can test routing +#ifdef RF22_TEST_NETWORK + if ( +#if RF22_TEST_NETWORK==1 + // This looks like 1-2-3-4 + (_thisAddress == 1 && _from == 2) + || (_thisAddress == 2 && (_from == 1 || _from == 3)) + || (_thisAddress == 3 && (_from == 2 || _from == 4)) + || (_thisAddress == 4 && _from == 3) + +#elif RF22_TEST_NETWORK==2 + // This looks like 1-2-4 + // | | | + // --3-- + (_thisAddress == 1 && (_from == 2 || _from == 3)) + || _thisAddress == 2 + || _thisAddress == 3 + || (_thisAddress == 4 && (_from == 2 || _from == 3)) + +#elif RF22_TEST_NETWORK==3 + // This looks like 1-2-4 + // | | + // --3-- + (_thisAddress == 1 && (_from == 2 || _from == 3)) + || (_thisAddress == 2 && (_from == 1 || _from == 4)) + || (_thisAddress == 3 && (_from == 1 || _from == 4)) + || (_thisAddress == 4 && (_from == 2 || _from == 3)) + +#elif RF22_TEST_NETWORK==4 + // This looks like 1-2-3 + // | + // 4 + (_thisAddress == 1 && _from == 2) + || _thisAddress == 2 + || (_thisAddress == 3 && _from == 2) + || (_thisAddress == 4 && _from == 2) + +#endif +) + { + // OK + } + else + { + return false; // Pretend we got nothing + } +#endif + + peekAtMessage(&_tmpMessage, tmpMessageLen); + // See if its for us or has to be routed + if (_tmpMessage.header.dest == _thisAddress || _tmpMessage.header.dest == RF22_BROADCAST_ADDRESS) + { + // Deliver it here + if (source) *source = _tmpMessage.header.source; + if (dest) *dest = _tmpMessage.header.dest; + if (id) *id = _tmpMessage.header.id; + if (flags) *flags = _tmpMessage.header.flags; + uint8_t msgLen = tmpMessageLen - sizeof(RoutedMessageHeader); + if (*len > msgLen) + *len = msgLen; + memcpy(buf, _tmpMessage.data, *len); + return true; // Its for you! + } + else if ( _tmpMessage.header.dest != RF22_BROADCAST_ADDRESS + && _tmpMessage.header.hops++ < _max_hops) + { + // Maybe it has to be routed to the next hop + // REVISIT: if it fails due to no route or unable to deliver to the next hop, + // tell the originator. BUT HOW? + route(&_tmpMessage, tmpMessageLen); + } + // Discard it and maybe wait for another + } + return false; +} + +//////////////////////////////////////////////////////////////////// +boolean RF22Router::recvfromAckTimeout(uint8_t* buf, uint8_t* len, uint16_t timeout, uint8_t* source, uint8_t* dest, uint8_t* id, uint8_t* flags) +{ + Timer t; + + t.start(); + unsigned long endtime = t.read_ms() + timeout; + while (t.read_ms() < endtime) + { + if (recvfromAck(buf, len, source, dest, id, flags)) + return true; + } + return false; +} +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF22Router.h Tue Feb 14 19:39:36 2012 +0000 @@ -0,0 +1,326 @@ +// RF22Router.h +// +// Author: Mike McCauley (mikem@open.com.au) +// Copyright (C) 2011 Mike McCauley +// $Id: RF22Router.h,v 1.7 2011/02/15 01:18:03 mikem Exp $ +// ported to mbed by Karl Zweimueller + +#ifndef RF22Router_h +#define RF22Router_h + +#include <RF22ReliableDatagram.h> + +// Default max number of hops we will route +#define RF22_DEFAULT_MAX_HOPS 30 + +// The default size of the routing table we keep +#define RF22_ROUTING_TABLE_SIZE 10 + +// Error codes +#define RF22_ROUTER_ERROR_NONE 0 +#define RF22_ROUTER_ERROR_INVALID_LENGTH 1 +#define RF22_ROUTER_ERROR_NO_ROUTE 2 +#define RF22_ROUTER_ERROR_TIMEOUT 3 +#define RF22_ROUTER_ERROR_NO_REPLY 4 +#define RF22_ROUTER_ERROR_UNABLE_TO_DELIVER 5 + +// This size of RF22_ROUTER_MAX_MESSAGE_LEN is OK for Arduino Mega, but too big for +// Duemilanova. Size of 50 works with the sample router programs on Duemilanova. +#define RF22_ROUTER_MAX_MESSAGE_LEN (RF22_MAX_MESSAGE_LEN - sizeof(RF22Router::RoutedMessageHeader)) +//#define RF22_ROUTER_MAX_MESSAGE_LEN 50 + +// These allow us to define a simulated network topology for testing purposes +// See RF22Router.cpp for details +//#define RF22_TEST_NETWORK 1 +//#define RF22_TEST_NETWORK 2 +//#define RF22_TEST_NETWORK 3 +//#define RF22_TEST_NETWORK 4 + +///////////////////////////////////////////////////////////////////// +/// \class RF22Router RF22Router.h <RF22Router.h> +/// \brief RF22 subclass for sending addressed, optionally acknowledged datagrams +/// multi-hop routed across a network. +/// +/// Extends RF22ReliableDatagram to define addressed messages +/// That are reliably transmitted and routed across a network. Each message is transmitted reliably +/// between each hop in order to get from the source node to the destination node. +/// +/// With RF22Router, routes are hard wired. This means that each node must have programmed +/// in it how to reach each of the other nodes it will be trying to communicate with. +/// This means you must specify the next-hop node address for each of the destination nodes, +/// using the addRouteTo() function. +/// +/// When sendtoWait() is called with a new message to deliver, and the destination address, +/// RF22Router looks up the next hop node for the destination node. It then uses +/// RF22ReliableDatagram to (reliably) deliver the message to the next hop +/// (which is expected also to be running an RF22Router). If that next-hop node is not +/// the final destination, it will also look up the next hop for the destination node and +/// (reliably) deliver the message to the next hop. By this method, messages can be delivered +/// across a network of nodes, even if each node cannot hear all of the others in the network. +/// Each time a message is received for another node and retransmitted to the next hop, +/// the HOPS filed in teh header is incremented. If a message is received for routing to another node +/// which has exceed the routers max_hops, the message wioll be dropped and ignored. +/// This helps prevent infinite routing loops. +/// +/// RF22Router supports messages with a dest of RF22_BROADCAST_ADDRESS. Such messages are not routed, +/// and are broadcast (once) to all nodes within range. +/// +/// The recvfromAck() function is responsible not just for receiving and delivering +/// messages addressed to this node (or RF22_BROADCAST_ADDRESS), but +/// it is also responsible for routing other message to their next hop. This means that it is important to +/// call recvfromAck() or recvfromAckTimeout() frequently in your main loop. recvfromAck() will return +/// false if it receives a message but it is not for this node. +/// +/// RF22Router does not provide reliable end-to-end delivery, but uses reliable hop-to-hop delivery. +/// If a message is unable to be delivered to an end node during to a delivery failure between 2 hops, +/// the source node will not be told about it. +/// +/// Note: This class is most useful for networks of nodes that are essentially static +/// (i.e. the nodes dont move around), and for which the +/// routing never changes. If that is not the case for your proposed network, see RF22Mesh instead. +/// +/// \par The Routing Table +/// +/// The routing table is a local table in RF22Router that holds the information about the next hop node +/// address for each destination address you may want to send a message to. It is your responsibility +/// to make sure every node in an RF22Router network has been configured with a unique address and the +/// routing information so that messages are correctly routed across the network from source node to +/// destination node. This is usually done once in setup() by calling addRouteTo(). +/// The hardwired routing will in general be different on each node, and will depend on the physical +/// topololgy of the network. +/// You can also use addRouteTo() to change a route and +/// deleteRouteTo() to delete a route at run time. Youcan also clear the entire routing table +/// +/// The Routing Table has limited capacity for entries (defined by RF22_ROUTING_TABLE_SIZE, which is 10) +/// if more than RF22_ROUTING_TABLE_SIZE are added, the oldest (first) one will be removed by calling +/// retireOldestRoute() +/// +/// \par Message Format +/// +/// RF22Router add to the lower level RF22ReliableDatagram (and even lower level RF22) class mesage formats. +/// In those lower level classes, the hop-to-hop message headers are in the RF22 message headers, +/// and are handled automcatically by tyhe RF22 hardware. +/// RF22Router and its subclasses add an end-to-end addressing header in the payload of the RF22 message, +/// and before the RF22Router application data. +/// - 1 octet DEST, the destination node address (ie the address of the final +/// destination node for this message) +/// - 1 octet SOURCE, the source node address (ie the address of the originating node that first sent +/// the message). +/// - 1 octet HOPS, the number of hops this message has traversed so far. +/// - 1 octet ID, an incrementing message ID for end-to-end message tracking for use by subclasses. +/// Not used by RF22Router. +/// - 1 octet FLAGS, a bitmask for use by subclasses. Not used by RF22Router. +/// - 0 or more octets DATA, the application payload data. The length of this data is implicit +/// in the length of the entire message. +/// +/// You should be careful to note that there are ID and FLAGS fields in the low level per-hop +/// message header too. These are used only for hop-to-hop, and in general will be different to +/// the ones at the RF22Router level. +/// +/// \par Testing +/// +/// Bench testing of such networks is notoriously difficult, especially simulating limited radio +/// connectivity between some nodes. +/// To assist testing (both during RF22 development and for your own networks) +/// RF22Router.cpp has the ability to +/// simulate a number of different small network topologies. Each simulated network supports 4 nodes with +/// addresses 1 to 4. It operates by pretending to not hear RF22 messages from certain other nodes. +/// You can enable testing with a \#define TEST_NETWORK in RF22Router.h +/// The sample programs rf22_mesh_* rely on this feature. +/// +/// Part of the Arduino RF22 library for operating with HopeRF RF22 compatible transceivers +/// (see http://www.hoperf.com) +class RF22Router : public RF22ReliableDatagram +{ +public: + + /// Defines the structure of the RF22Router message header, used to keep track of end-to-end delivery + /// parameters + typedef struct + { + uint8_t dest; ///< Destination node address + uint8_t source; ///< Originator node address + uint8_t hops; ///< Hops traversed so far + uint8_t id; ///< Originator sequence number + uint8_t flags; ///< Originator flags + // Data follows, Length is implicit in the overall message length + } RoutedMessageHeader; + + /// Defines the structure of a RF22Router message + typedef struct + { + RoutedMessageHeader header; ///< end-to-end delivery header + uint8_t data[RF22_ROUTER_MAX_MESSAGE_LEN]; ///< Applicaiton payload data + } RoutedMessage; + + /// Values for the possible states for routes + typedef enum + { + Invalid = 0, ///< No valid route is known + Discovering, ///< Discovering a route (not currently used) + Valid ///< Route is valid + } RouteState; + + /// Defines an entry in the routing table + typedef struct + { + uint8_t dest; ///< Destination node address + uint8_t next_hop; ///< Send via this next hop address + uint8_t state; ///< State of this route, one of RouteState + } RoutingTableEntry; + + /// Constructor. + /// \param[in] thisAddress The address to assign to this node. Defaults to 0 + /// \param[in] slaveSelectPin the Arduino pin number of the output to use to select the RF22 before + /// accessing it + /// \param[in] interrupt The interrupt number to use. Default is interrupt 0 (Arduino input pin 2) + //RF22Router(uint8_t thisAddress = 0, uint8_t slaveSelectPin = 10, uint8_t interrupt = 0); + RF22Router(uint8_t thisAddress ,PinName slaveSelectPin , PinName mosi, PinName miso, PinName sclk, PinName interrupt ); + /// Initialises this instance and the radio module connected to it. + /// Overrides the init() function in RF22. + /// Sets max_hops to the default of RF22_DEFAULT_MAX_HOPS (30) + boolean init(); + + /// Sets the max_hops to the given value + /// This controls the maximum number of hops allowed between source and destination nodes + /// Messages that are not delivered by the time their HOPS field exceeds max_hops on a + /// routing node will be dropped and ignored. + /// \param [in] max_hops The new value for max_hops + void setMaxHops(uint8_t max_hops); + + /// Adds a route to the local routing table, or updates it if already present. + /// If there is not enough room the oldest (first) route will be deleted by calling retireOldestRoute(). + /// \param [in] dest The destination node address. RF22_BROADCAST_ADDRESS is permitted. + /// \param [in] next_hop The address of the next hop to send messages destined for dest + /// \param [in] state The satte of the route. Defaults to Valid + void addRouteTo(uint8_t dest, uint8_t next_hop, uint8_t state = Valid); + + /// Finds and returns a RoutingTableEntry for the given destination node + /// \param [in] dest The desired destination node address. + /// \return pointer to a RoutingTableEntry for dest + RoutingTableEntry* getRouteTo(uint8_t dest); + + /// Deletes from the local routing table any route for the destination node. + /// \param [in] dest The destination node address + /// \return true if the route was present + boolean deleteRouteTo(uint8_t dest); + + /// Deletes the oldest (first) route from the + /// local routing table + void retireOldestRoute(); + + /// Clears all entries from the + /// local routing table + void clearRoutingTable(); + +#ifdef RF22_HAVE_SERIAL + /// If RF22_HAVE_SERIAL is defined, this will print out the contents of the local + /// routing table using Serial + void printRoutingTable(); +#endif + + /// Sends a message to the destination node. Initialises the RF22Router message header + /// (the SOURCE address is set to the address of this node, HOPS to 0) and calls + /// route() which looks up in the routing table the next hop to deliver to and sends the + /// message to the next hop. Waits for an acknowledgement from the next hop + /// (but not from the destination node (if that is different). + /// \param [in] buf The application message data + /// \param [in] len Number of octets in the application message data. 0 is permitted + /// \param [in] dest The destination node address + /// \return The result code: + /// - RF22_ROUTER_ERROR_NONE Message was routed and deliverd to the next hop + /// (not necessarily to the final dest address) + /// - RF22_ROUTER_ERROR_NO_ROUTE There was no route for dest in the local routing table + /// - RF22_ROUTER_ERROR_UNABLE_TO_DELIVER Noyt able to deliver to the next hop + /// (usually because it dod not acknowledge due to being off the air or out of range + uint8_t sendtoWait(uint8_t* buf, uint8_t len, uint8_t dest); + + /// Similar to sendtoWait() above, but spoofs the source address. + /// For internal use only during routing + /// \param [in] buf The application message data + /// \param [in] len Number of octets in the application message data. 0 is permitted + /// \param [in] dest The destination node address + /// \param [in] source The (fake) originatong node address. + /// \return The result code: + /// - RF22_ROUTER_ERROR_NONE Message was routed and deliverd to the next hop + /// (not necessarily to the final dest address) + /// - RF22_ROUTER_ERROR_NO_ROUTE There was no route for dest in the local routing table + /// - RF22_ROUTER_ERROR_UNABLE_TO_DELIVER Noyt able to deliver to the next hop + /// (usually because it dod not acknowledge due to being off the air or out of range + uint8_t sendtoWait(uint8_t* buf, uint8_t len, uint8_t dest, uint8_t source); + + /// Starts the receiver if it is not running already. + /// If there is a valid message available for this node (or RF22_BROADCAST_ADDRESS), + /// send an acknowledgement to the last hop + /// address (blocking until this is complete), then copy the application message payload data + /// to buf and return true + /// else return false. + /// If a message is copied, *len is set to the length.. + /// If from is not NULL, the originator SOURCE address is placed in *source. + /// If to is not NULL, the DEST address is placed in *dest. This might be this nodes address or + /// RF22_BROADCAST_ADDRESS. + /// This is the preferred function for getting messages addressed to this node. + /// If the message is not a broadcast, acknowledge to the sender before returning. + /// \param[in] buf Location to copy the received message + /// \param[in,out] len Available space in buf. Set to the actual number of octets copied. + /// \param[in] source If present and not NULL, the referenced uint8_t will be set to the SOURCE address + /// \param[in] dest If present and not NULL, the referenced uint8_t will be set to the DEST address + /// \param[in] id If present and not NULL, the referenced uint8_t will be set to the ID + /// \param[in] flags If present and not NULL, the referenced uint8_t will be set to the FLAGS + /// (not just those addressed to this node). + /// \return true if a valid message was recvived for this node copied to buf + boolean recvfromAck(uint8_t* buf, uint8_t* len, uint8_t* source = NULL, uint8_t* dest = NULL, uint8_t* id = NULL, uint8_t* flags = NULL); + + /// Starts the receiver if it is not running already. + /// Similar to recvfromAck(), this will block until either a valid message available for this node + /// or the timeout expires. + /// \param[in] buf Location to copy the received message + /// \param[in,out] len Available space in buf. Set to the actual number of octets copied. + /// \param[in] timeout Maximum time to wait in milliseconds + /// \param[in] source If present and not NULL, the referenced uint8_t will be set to the SOURCE address + /// \param[in] dest If present and not NULL, the referenced uint8_t will be set to the DEST address + /// \param[in] id If present and not NULL, the referenced uint8_t will be set to the ID + /// \param[in] flags If present and not NULL, the referenced uint8_t will be set to the FLAGS + /// (not just those addressed to this node). + /// \return true if a valid message was copied to buf + boolean recvfromAckTimeout(uint8_t* buf, uint8_t* len, uint16_t timeout, uint8_t* source = NULL, uint8_t* dest = NULL, uint8_t* id = NULL, uint8_t* flags = NULL); + +protected: + + /// Lets sublasses peek at messages going + /// past before routing or local delivery. + /// Called by recvfromAck() immediately after it gets the message from RF22ReliableDatagram + /// \param [in] message Pointer to the RF22Router message that was received. + /// \param [in] messageLen Length of message in octets + virtual void peekAtMessage(RoutedMessage* message, uint8_t messageLen); + + /// Finds the next-hop route and sends the message via RF22ReliableDatagram::sendtoWait(). + /// This is virtual, which lets subclasses override or intercept the route() function. + /// Called by sendtoWait after the message header has been filled in. + /// \param [in] message Pointer to the RF22Router message to be sent. + /// \param [in] messageLen Length of message in octets + virtual uint8_t route(RoutedMessage* message, uint8_t messageLen); + + /// Deletes a specific rout entry from therouting table + /// \param [in] index The 0 based index of the routing table entry to delete + void deleteRoute(uint8_t index); + + /// The last end-to-end sequence number to be used + /// Defaults to 0 + uint8_t _lastE2ESequenceNumber; + + /// The maximum number of hops permitted in routed messages. + /// If a routed message would exceed this number of hops it is dropped and ignored. + uint8_t _max_hops; + +private: + + /// Temporary mesage buffer + static RoutedMessage _tmpMessage; + + /// Local routing table + RoutingTableEntry _routes[RF22_ROUTING_TABLE_SIZE]; +}; + +#endif +