Shuto Naruse
Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Diff: Kalman/Sonar/RF12B/RF12B.cpp
- Revision:
- 9:377560539b74
- Parent:
- 8:ffc7d8af2d5a
- Child:
- 10:294b9adbc9d3
--- a/Kalman/Sonar/RF12B/RF12B.cpp Fri Apr 27 18:36:54 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,395 +0,0 @@
-#include "RF12B.h"
-
-#include "RF_defs.h"
-#include <algorithm>
-#include "system.h"
-#include "globals.h"
-
-
-RF12B::RF12B(PinName _SDI,
- PinName _SDO,
- PinName _SCK,
- PinName _NCS,
- PinName _NIRQ):spi(_SDI, _SDO, _SCK),
- NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ) {// rfled(LED3) {
-
- // SPI frequency, word lenght, polarity and phase */
- spi.format(16,0);
- spi.frequency(2000000);
-
- // Set ~CS high
- NCS = 1;
-
- // Initialise RF Module
- init();
-
- // Setup interrupt to happen on falling edge of NIRQ
- NIRQ.fall(this, &RF12B::rxISR);
-}
-
-// Returns the packet length if data is available in the receive buffer, 0 otherwise
-//unsigned int RF12B::available() {
-// return fifo.size();
-//}
-
-// Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets
-/*bool RF12B::read(unsigned char* data, unsigned int size) {
- if (fifo.size() == 0) {
- return false;
- } else {
- unsigned int i = 0;
- while (fifo.size() > 0 && i < size) {
- data[i++] = fifo.front();
- fifo.pop();
- }
- return true;
- }
-}
-*/
-
-// Reads a byte of data from the receive buffer
-/*
-unsigned char RF12B::read() {
- if (available()) {
- unsigned char data = fifo.front();
- fifo.pop();
- return data;
- } else {
- return 0xFF; // Error val although could also be data...
- }
-}
-*/
-
-// Sends a packet of data to the RF module for transmission TODO: Make asych
-void RF12B::write(unsigned char *data, unsigned char length) {
- unsigned char crc = 0;
-
- // Transmitter mode
- changeMode(TX);
-
- writeCmd(0x0000);
- send(0xAA); // PREAMBLE
- send(0xAA);
- send(0xAA);
- send(0x2D); // SYNC
- send(0xD4);
- // Packet Length
- send(length);
- crc = crc8(crc, length);
- send(crc);
- crc = crc8(crc, crc);
- // Packet Data
- for (unsigned char i=0; i<length; i++) {
- send(data[i]);
- crc = crc8(crc, data[i]);
- }
- send(crc);
- send(0xAA); // DUMMY BYTES
- send(0xAA);
- send(0xAA);
-
- // Back to receiver mode
- changeMode(RX);
- status();
-
-
-}
-
-// Transmit a 1-byte data packet
-void RF12B::write(unsigned char data) {
- write(&data, 1);
-}
-/*
-void RF12B::write(queue<char> &data, int length) {
- char crc = 0;
- char length_byte = 0;
-
- // -1 means try to transmit everything in the queue
- if (length == -1) {
- length = data.size();
- }
-
- // max length of packet is 255
- length_byte = min(length, 255);
-
- // Transmitter mode
- changeMode(TX);
-
- writeCmd(0x0000);
- send(0xAA); // PREAMBLE
- send(0xAA);
- send(0xAA);
- send(0x2D); // SYNC
- send(0xD4);
- // Packet Length
- send(length_byte);
- crc = crc8(crc, length_byte);
- send(crc);
- crc = crc8(crc, crc);
- // Packet Data
- for (char i=0; i<length_byte; i++) {
- send(data.front());
- crc = crc8(crc, data.front());
- data.pop();
- }
- send(crc);
- send(0xAA); // DUMMY BYTES
- send(0xAA);
- send(0xAA);
-
- // Back to receiver mode
- changeMode(RX);
- status();
-}
-*/
-/**********************************************************************
- * PRIVATE FUNCTIONS
- *********************************************************************/
-
-// Initialises the RF12B module
-void RF12B::init() {
- // writeCmd(0x80E7); //EL,EF,868band,12.0pF
- changeMode(RX);
- writeCmd(0xA640); //frequency select
- writeCmd(0xC647); //4.8kbps
- writeCmd(0x94A0); //VDI,FAST,134kHz,0dBm,-103dBm
- writeCmd(0xC2AC); //AL,!ml,DIG,DQD4
- writeCmd(0xCA81); //FIFO8,SYNC,!ff,DR
- writeCmd(0xCED4); //SYNC=2DD4
- writeCmd(0xC483); //@PWR,NO RSTRIC,!st,!fi,OE,EN
- writeCmd(0x9850); //!mp,90kHz,MAX OUT
- writeCmd(0xCC17); //OB1, COB0, LPX, Iddy, CDDIT�CBW0
- writeCmd(0xE000); //NOT USED
- writeCmd(0xC800); //NOT USED
- writeCmd(0xC040); //1.66MHz,2.2V
-
- writeCmd(
- RFM_CONFIG_EL |
- RFM_CONFIG_EF |
- RFM_CONFIG_BAND_433 //|
- //RFM_CONFIG_X_11_0pf // meh, using default
- );
-
- // 2. Power Management Command
- // leave everything switched off for now
- /*
- writeCmd(
- RFM_POWER_MANAGEMENT // switch all off
- );
- */
-
- // 3. Frequency Setting Command
- writeCmd(
- RFM_FREQUENCY |
- RFM_FREQ_433Band(435.7) //I totally made this value up... if someone knows where the sweetspots are in this band, tell me!
- );
-
-
- // 4. Data Rate Command
- writeCmd(RFM_DATA_RATE_9600);
-
-
- // 5. Receiver Control Command
- writeCmd(
- RFM_RX_CONTROL_P20_VDI |
- RFM_RX_CONTROL_VDI_FAST |
- //RFM_RX_CONTROL_BW(RFM_BAUD_RATE) |
- RFM_RX_CONTROL_BW_134 | // CHANGE THIS TO 67 TO IMPROVE RANGE! (though the bitrate must then be below 8kbaud, and fsk modulation changed)
- RFM_RX_CONTROL_GAIN_0 |
- RFM_RX_CONTROL_RSSI_103 // Might need adjustment. Datasheet says around 10^-5 bit error rate at this level and baudrate.
- );
-
- // 6. Data Filter Command
- writeCmd(
- RFM_DATA_FILTER_AL |
- RFM_DATA_FILTER_ML |
- RFM_DATA_FILTER_DIG //|
- //RFM_DATA_FILTER_DQD(4)
- );
-
- // 7. FIFO and Reset Mode Command
- writeCmd(
- RFM_FIFO_IT(8) |
- RFM_FIFO_DR |
- 0x8 //turn on 16bit sync word
- );
-
- // 8. FIFO Syncword
- // Leave as default: 0xD4
-
- // 9. Receiver FIFO Read
- // when the interupt goes high, (and if we can assume that it was a fifo fill interrupt) we can read a byte using:
- // result = RFM_READ_FIFO();
-
- // 10. AFC Command
- writeCmd(
- //RFM_AFC_AUTO_VDI | //Note this might be changed to improve range. Refer to datasheet.
- RFM_AFC_AUTO_INDEPENDENT |
- RFM_AFC_RANGE_LIMIT_7_8 |
- RFM_AFC_EN |
- RFM_AFC_OE |
- RFM_AFC_FI
- );
-
- // 11. TX Configuration Control Command
- writeCmd(
- RFM_TX_CONTROL_MOD_60 |
- RFM_TX_CONTROL_POW_0
- );
-
-
- // 12. PLL Setting Command
- writeCmd(
- 0xCC77 & ~0x01 // Setting the PLL bandwith, less noise, but max bitrate capped at 86.2
- // I think this will slow down the pll's reaction time. Not sure, check with someone!
- );
-
- changeMode(RX);
- resetRX();
- status();
-}
-
-/* Write a command to the RF Module */
-unsigned int RF12B::writeCmd(unsigned int cmd) {
- NCS = 0;
- unsigned int recv = spi.write(cmd);
- NCS = 1;
- return recv;
-}
-
-/* Sends a byte of data across RF */
-void RF12B::send(unsigned char data) {
- while (NIRQ);
- writeCmd(0xB800 + data);
-}
-
-/* Change the mode of the RF module to Transmitting or Receiving */
-void RF12B::changeMode(rfmode_t _mode) {
- mode = _mode;
- if (_mode == TX) {
- writeCmd(0x8239); //!er,!ebb,ET,ES,EX,!eb,!ew,DC
- } else { /* mode == RX */
- writeCmd(0x8299); //er,!ebb,ET,ES,EX,!eb,!ew,DC
- }
-}
-
-// Interrupt routine for data reception */
-void RF12B::rxISR() {
-
- unsigned int data = 0;
- static int i = -2;
- static unsigned char packet_length = 0;
- static unsigned char crc = 0;
- static unsigned char temp;
-
- //Loop while interrupt is asserted
- while (!NIRQ_in && mode == RX) {
-
- // Grab the packet's length byte
- if (i == -2) {
- data = writeCmd(0x0000);
- if ( (data&0x8000) ) {
- data = writeCmd(0xB000);
- packet_length = (data&0x00FF);
- crc = crc8(crc, packet_length);
- i++;
- }
- }
-
- //If we exhaust the interrupt, exit
- if (NIRQ_in)
- break;
-
- // Check that packet length was correct
- if (i == -1) {
- data = writeCmd(0x0000);
- if ( (data&0x8000) ) {
- data = writeCmd(0xB000);
- unsigned char crcofsize = (data&0x00FF);
- if (crcofsize != crc) {
- //It was wrong, start over
- i = -2;
- packet_length = 0;
- crc = 0;
- //temp = queue<unsigned char>();
- resetRX();
- } else {
- crc = crc8(crc, crcofsize);
- i++;
- }
- }
- }
-
- //If we exhaust the interrupt, exit
- if (NIRQ_in)
- break;
-
- // Grab the packet's data
- if (i >= 0 && i < packet_length) {
- data = writeCmd(0x0000);
- if ( (data&0x8000) ) {
- data = writeCmd(0xB000);
- temp = data&0x00FF;
- //temp.push(data&0x00FF);
- crc = crc8(crc, (unsigned char)(data&0x00FF));
- i++;
- }
- }
-
- //If we exhaust the interrupt, exit
- if (NIRQ_in)
- break;
-
- if (i >= packet_length) {
- data = writeCmd(0x0000);
- if ( (data&0x8000) ) {
- data = writeCmd(0xB000);
- if ((unsigned char)(data & 0x00FF) == crc) {
- //If the checksum is correct, add our data to the end of the output buffer
- //while (!temp.empty()) {
- //fifo.push(temp);
- // temp.pop();
-#ifdef ROBOT_SECONDARY
- if (callbackfunc)
- (*callbackfunc)(temp);
-
- if (callbackobj && mcallbackfunc)
- (callbackobj->*mcallbackfunc)(temp);
-#endif
- // }
- }
-
- // Tell RF Module we are finished, and clean up
- i = -2;
- packet_length = 0;
- crc = 0;
- //temp = queue<unsigned char>();
- resetRX();
- }
- }
- }
-
-}
-
-unsigned int RF12B::status() {
- return writeCmd(0x0000);
-}
-
-// Tell the RF Module this packet is received and wait for the next */
-void RF12B::resetRX() {
- writeCmd(0xCA81);
- writeCmd(0xCA83);
-};
-
-// Calculate CRC8 */
-unsigned char RF12B::crc8(unsigned char crc, unsigned char data) {
- crc = crc ^ data;
- for (int i = 0; i < 8; i++) {
- if (crc & 0x01) {
- crc = (crc >> 1) ^ 0x8C;
- } else {
- crc >>= 1;
- }
- }
- return crc;
-}
\ No newline at end of file