Polybot Grenoble
FinT
Dependencies: mbed RF24Network RF24
Revision 0:3982c0e9eda1, committed 2015-07-06
- Comitter:
- akashvibhute
- Date:
- Mon Jul 06 03:17:33 2015 +0000
- Child:
- 1:5be48a9550c3
- Commit message:
- First mbed-arduino working program!; mbed is able to receive data from arduino nodes 0 or 1 depending on address set
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF24Network/RF24Network.cpp Mon Jul 06 03:17:33 2015 +0000
@@ -0,0 +1,439 @@
+/*
+ Copyright (C) 2011 James Coliz, Jr. <maniacbug@ymail.com>
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+#include "RF24Network_config.h"
+#include <nRF24L01P_Maniacbug.h>
+#include "RF24Network.h"
+
+uint16_t RF24NetworkHeader::next_id = 1;
+
+uint64_t pipe_address( uint16_t node, uint8_t pipe );
+bool is_valid_address( uint16_t node );
+
+/******************************************************************/
+
+RF24Network::RF24Network( RF24& _radio ): radio(_radio), next_frame(frame_queue)
+{
+}
+
+/******************************************************************/
+
+void RF24Network::begin(uint8_t _channel, uint16_t _node_address )
+{
+ if (! is_valid_address(_node_address) )
+ return;
+
+ node_address = _node_address;
+
+ // Set up the radio the way we want it to look
+ radio.setChannel(_channel);
+ radio.setDataRate(RF24_1MBPS);
+ radio.setCRCLength(RF24_CRC_16);
+
+ radio.setAutoAck(1); /*****/
+
+ // Setup our address helper cache
+ setup_address();
+
+ // Open up all listening pipes
+ int i = 6;
+ while (i--)
+ radio.openReadingPipe(i,pipe_address(_node_address,i));
+ radio.startListening();
+
+ // Spew debugging state about the radio
+ radio.printDetails();
+}
+
+/******************************************************************/
+
+void RF24Network::update(void)
+{
+ // if there is data ready
+ uint8_t pipe_num;
+ while ( radio.available(&pipe_num) )
+ {
+ // Dump the payloads until we've gotten everything
+ bool done = false;
+ while (!done)
+ {
+ // Fetch the payload, and see if this was the last one.
+ done = radio.read( frame_buffer, sizeof(frame_buffer) );
+
+ // Read the beginning of the frame as the header
+ const RF24NetworkHeader& header = * reinterpret_cast<RF24NetworkHeader*>(frame_buffer);
+
+ //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Received on %u %s\n\r"),millis(),pipe_num,header.toString()));
+ //IF_SERIAL_DEBUG(const uint16_t* i = reinterpret_cast<const uint16_t*>(frame_buffer + sizeof(RF24NetworkHeader));printf_P(PSTR("%lu: NET message %04x\n\r"),millis(),*i));
+
+ // Throw it away if it's not a valid address
+ if ( !is_valid_address(header.to_node) )
+ continue;
+
+ // Is this for us?
+ if ( header.to_node == node_address )
+ // Add it to the buffer of frames for us
+ enqueue();
+ else
+ // Relay it
+ write(header.to_node);
+
+ // NOT NEEDED anymore. Now all reading pipes are open to start.
+#if 0
+ // If this was for us, from one of our children, but on our listening
+ // pipe, it could mean that we are not listening to them. If so, open up
+ // and listen to their talking pipe
+
+ if ( header.to_node == node_address && pipe_num == 0 && is_descendant(header.from_node) )
+ {
+ uint8_t pipe = pipe_to_descendant(header.from_node);
+ radio.openReadingPipe(pipe,pipe_address(node_address,pipe));
+
+ // Also need to open pipe 1 so the system can get the full 5-byte address of the pipe.
+ radio.openReadingPipe(1,pipe_address(node_address,1));
+ }
+#endif
+ }
+ }
+}
+
+/******************************************************************/
+
+bool RF24Network::enqueue(void)
+{
+ bool result = false;
+
+ //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Enqueue @%x "),millis(),next_frame-frame_queue));
+
+ // Copy the current frame into the frame queue
+ if ( next_frame < frame_queue + sizeof(frame_queue) )
+ {
+ memcpy(next_frame,frame_buffer, frame_size );
+ next_frame += frame_size;
+
+ result = true;
+ //IF_SERIAL_DEBUG(printf_P(PSTR("ok\n\r")));
+ }
+ else
+ {
+ //IF_SERIAL_DEBUG(printf_P(PSTR("failed\n\r")));
+ }
+
+ return result;
+}
+
+/******************************************************************/
+
+bool RF24Network::available(void)
+{
+ // Are there frames on the queue for us?
+ return (next_frame > frame_queue);
+}
+
+/******************************************************************/
+
+void RF24Network::peek(RF24NetworkHeader& header)
+{
+ if ( available() )
+ {
+ // Copy the next available frame from the queue into the provided buffer
+ memcpy(&header,next_frame-frame_size,sizeof(RF24NetworkHeader));
+ }
+}
+
+/******************************************************************/
+
+size_t RF24Network::read(RF24NetworkHeader& header,void* message, size_t maxlen)
+{
+ size_t bufsize = 0;
+
+ if ( available() )
+ {
+ // Move the pointer back one in the queue
+ next_frame -= frame_size;
+ uint8_t* frame = next_frame;
+
+ // How much buffer size should we actually copy?
+ bufsize = min(maxlen,frame_size-sizeof(RF24NetworkHeader));
+
+ // Copy the next available frame from the queue into the provided buffer
+ memcpy(&header,frame,sizeof(RF24NetworkHeader));
+ memcpy(message,frame+sizeof(RF24NetworkHeader),bufsize);
+
+ //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Received %s\n\r"),millis(),header.toString()));
+ }
+
+ return bufsize;
+}
+
+/******************************************************************/
+
+bool RF24Network::write(RF24NetworkHeader& header,const void* message, size_t len)
+{
+ // Fill out the header
+ header.from_node = node_address;
+
+ // Build the full frame to send
+ memcpy(frame_buffer,&header,sizeof(RF24NetworkHeader));
+ if (len)
+ memcpy(frame_buffer + sizeof(RF24NetworkHeader),message,min(frame_size-sizeof(RF24NetworkHeader),len));
+
+ //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Sending %s\n\r"),millis(),header.toString()));
+ if (len)
+ {
+ //IF_SERIAL_DEBUG(const uint16_t* i = reinterpret_cast<const uint16_t*>(message);printf_P(PSTR("%lu: NET message %04x\n\r"),millis(),*i));
+ }
+
+ // If the user is trying to send it to himself
+ if ( header.to_node == node_address )
+ // Just queue it in the received queue
+ return enqueue();
+ else
+ // Otherwise send it out over the air
+ return write(header.to_node);
+}
+
+/******************************************************************/
+
+bool RF24Network::write(uint16_t to_node)
+{
+ bool ok = false;
+
+ // Throw it away if it's not a valid address
+ if ( !is_valid_address(to_node) )
+ return false;
+
+ // First, stop listening so we can talk.
+ //radio.stopListening();
+
+ // Where do we send this? By default, to our parent
+ uint16_t send_node = parent_node;
+ // On which pipe
+ uint8_t send_pipe = parent_pipe;
+
+ // If the node is a direct child,
+ if ( is_direct_child(to_node) )
+ {
+ // Send directly
+ send_node = to_node;
+
+ // To its listening pipe
+ send_pipe = 0;
+ }
+ // If the node is a child of a child
+ // talk on our child's listening pipe,
+ // and let the direct child relay it.
+ else if ( is_descendant(to_node) )
+ {
+ send_node = direct_child_route_to(to_node);
+ send_pipe = 0;
+ }
+
+ //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Sending to 0%o via 0%o on pipe %x\n\r"),millis(),to_node,send_node,send_pipe));
+
+ // First, stop listening so we can talk
+ radio.stopListening();
+
+ // Put the frame on the pipe
+ ok = write_to_pipe( send_node, send_pipe );
+
+ // NOT NEEDED anymore. Now all reading pipes are open to start.
+#if 0
+ // If we are talking on our talking pipe, it's possible that no one is listening.
+ // If this fails, try sending it on our parent's listening pipe. That will wake
+ // it up, and next time it will listen to us.
+
+ if ( !ok && send_node == parent_node )
+ ok = write_to_pipe( parent_node, 0 );
+#endif
+
+ // Now, continue listening
+ radio.startListening();
+
+ return ok;
+}
+
+/******************************************************************/
+
+bool RF24Network::write_to_pipe( uint16_t node, uint8_t pipe )
+{
+ bool ok = false;
+
+ uint64_t out_pipe = pipe_address( node, pipe );
+
+ // Open the correct pipe for writing.
+ radio.openWritingPipe(out_pipe);
+
+ // Retry a few times
+ short attempts = 5;
+ do
+ {
+ ok = radio.write( frame_buffer, frame_size );
+ }
+ while ( !ok && --attempts );
+
+ //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Sent on %lx %S\n\r"),millis(),(uint32_t)out_pipe,ok?PSTR("ok"):PSTR("failed")));
+
+ return ok;
+}
+
+/******************************************************************/
+
+const char* RF24NetworkHeader::toString(void) const
+{
+ static char buffer[45];
+ //snprintf_P(buffer,sizeof(buffer),("id %04x from 0%o to 0%o type %c"),id,from_node,to_node,type);
+ return buffer;
+}
+
+/******************************************************************/
+
+bool RF24Network::is_direct_child( uint16_t node )
+{
+ bool result = false;
+
+ // A direct child of ours has the same low numbers as us, and only
+ // one higher number.
+ //
+ // e.g. node 0234 is a direct child of 034, and node 01234 is a
+ // descendant but not a direct child
+
+ // First, is it even a descendant?
+ if ( is_descendant(node) )
+ {
+ // Does it only have ONE more level than us?
+ uint16_t child_node_mask = ( ~ node_mask ) << 3;
+ result = ( node & child_node_mask ) == 0 ;
+ }
+
+ return result;
+}
+
+/******************************************************************/
+
+bool RF24Network::is_descendant( uint16_t node )
+{
+ return ( node & node_mask ) == node_address;
+}
+
+/******************************************************************/
+
+void RF24Network::setup_address(void)
+{
+ // First, establish the node_mask
+ uint16_t node_mask_check = 0xFFFF;
+ while ( node_address & node_mask_check )
+ node_mask_check <<= 3;
+
+ node_mask = ~ node_mask_check;
+
+ // parent mask is the next level down
+ uint16_t parent_mask = node_mask >> 3;
+
+ // parent node is the part IN the mask
+ parent_node = node_address & parent_mask;
+
+ // parent pipe is the part OUT of the mask
+ uint16_t i = node_address;
+ uint16_t m = parent_mask;
+ while (m)
+ {
+ i >>= 3;
+ m >>= 3;
+ }
+ parent_pipe = i;
+
+#ifdef SERIAL_DEBUG
+ printf_P(PSTR("setup_address node=0%o mask=0%o parent=0%o pipe=0%o\n\r"),node_address,node_mask,parent_node,parent_pipe);
+#endif
+}
+
+/******************************************************************/
+
+uint16_t RF24Network::direct_child_route_to( uint16_t node )
+{
+ // Presumes that this is in fact a child!!
+
+ uint16_t child_mask = ( node_mask << 3 ) | 7;
+ return node & child_mask ;
+}
+
+/******************************************************************/
+
+uint8_t RF24Network::pipe_to_descendant( uint16_t node )
+{
+ uint16_t i = node;
+ uint16_t m = node_mask;
+
+ while (m)
+ {
+ i >>= 3;
+ m >>= 3;
+ }
+
+ return i & 7;
+}
+
+/******************************************************************/
+
+bool is_valid_address( uint16_t node )
+{
+ bool result = true;
+
+ while(node)
+ {
+ uint8_t digit = node & 7;
+ if (digit < 1 || digit > 5)
+ {
+ result = false;
+ //printf_P(("*** WARNING *** Invalid address 0%o\n\r"),node);
+ break;
+ }
+ node >>= 3;
+ }
+
+ return result;
+}
+
+/******************************************************************/
+
+uint64_t pipe_address( uint16_t node, uint8_t pipe )
+{
+ static uint8_t pipe_segment[] = { 0x3c, 0x5a, 0x69, 0x96, 0xa5, 0xc3 };
+
+ uint64_t result;
+ uint8_t* out = reinterpret_cast<uint8_t*>(&result);
+
+ out[0] = pipe_segment[pipe];
+
+ uint8_t w;
+ short i = 4;
+ short shift = 12;
+ while(i--)
+ {
+ w = ( node >> shift ) & 0xF ;
+ w |= ~w << 4;
+ out[i+1] = w;
+
+ shift -= 4;
+ }
+
+ //IF_SERIAL_DEBUG(uint32_t* top = reinterpret_cast<uint32_t*>(out+1);printf_P(PSTR("%lu: NET Pipe %i on node 0%o has address %lx%x\n\r"),millis(),pipe,node,*top,*out));
+
+ return result;
+}
+
+// vim:ai:cin:sts=2 sw=2 ft=cpp
+
+uint8_t RF24Network::min(uint8_t a, uint8_t b)
+{
+ if(a < b)
+ return a;
+ else
+ return b;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF24Network/RF24Network.h Mon Jul 06 03:17:33 2015 +0000
@@ -0,0 +1,344 @@
+/*
+ Copyright (C) 2011 James Coliz, Jr. <maniacbug@ymail.com>
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+#ifndef __RF24NETWORK_H__
+#define __RF24NETWORK_H__
+
+/**
+ * @file RF24Network.h
+ *
+ * Class declaration for RF24Network
+ */
+
+#include <stddef.h>
+#include <stdint.h>
+
+class RF24;
+
+/**
+ * Header which is sent with each message
+ *
+ * The frame put over the air consists of this header and a message
+ */
+struct RF24NetworkHeader
+{
+ uint16_t from_node; /**< Logical address where the message was generated */
+ uint16_t to_node; /**< Logical address where the message is going */
+ uint16_t id; /**< Sequential message ID, incremented every message */
+ unsigned char type; /**< Type of the packet. 0-127 are user-defined types, 128-255 are reserved for system */
+ unsigned char reserved; /**< Reserved for future use */
+
+ static uint16_t next_id; /**< The message ID of the next message to be sent */
+
+ /**
+ * Default constructor
+ *
+ * Simply constructs a blank header
+ */
+ RF24NetworkHeader() {}
+
+ /**
+ * Send constructor
+ *
+ * Use this constructor to create a header and then send a message
+ *
+ * @code
+ * RF24NetworkHeader header(recipient_address,'t');
+ * network.write(header,&message,sizeof(message));
+ * @endcode
+ *
+ * @param _to The logical node address where the message is going
+ * @param _type The type of message which follows. Only 0-127 are allowed for
+ * user messages.
+ */
+ RF24NetworkHeader(uint16_t _to, unsigned char _type = 0): to_node(_to), id(next_id++), type(_type&0x7f) {}
+
+ /**
+ * Create debugging string
+ *
+ * Useful for debugging. Dumps all members into a single string, using
+ * internal static memory. This memory will get overridden next time
+ * you call the method.
+ *
+ * @return String representation of this object
+ */
+ const char* toString(void) const;
+};
+
+/**
+ * Network Layer for RF24 Radios
+ *
+ * This class implements an OSI Network Layer using nRF24L01(+) radios driven
+ * by RF24 library.
+ */
+
+class RF24Network
+{
+public:
+ /**
+ * Construct the network
+ *
+ * @param _radio The underlying radio driver instance
+ *
+ */
+ RF24Network( RF24& _radio );
+
+ /**
+ * Bring up the network
+ *
+ * @warning Be sure to 'begin' the radio first.
+ *
+ * @param _channel The RF channel to operate on
+ * @param _node_address The logical address of this node
+ */
+ void begin(uint8_t _channel, uint16_t _node_address );
+
+ /**
+ * Main layer loop
+ *
+ * This function must be called regularly to keep the layer going. This is where all
+ * the action happens!
+ */
+ void update(void);
+
+ /**
+ * Test whether there is a message available for this node
+ *
+ * @return Whether there is a message available for this node
+ */
+ bool available(void);
+
+ /**
+ * Read the next available header
+ *
+ * Reads the next available header without advancing to the next
+ * incoming message. Useful for doing a switch on the message type
+ *
+ * If there is no message available, the header is not touched
+ *
+ * @param[out] header The header (envelope) of the next message
+ */
+ void peek(RF24NetworkHeader& header);
+
+ /**
+ * Read a message
+ *
+ * @param[out] header The header (envelope) of this message
+ * @param[out] message Pointer to memory where the message should be placed
+ * @param maxlen The largest message size which can be held in @p message
+ * @return The total number of bytes copied into @p message
+ */
+ size_t read(RF24NetworkHeader& header, void* message, size_t maxlen);
+
+ /**
+ * Send a message
+ *
+ * @param[in,out] header The header (envelope) of this message. The critical
+ * thing to fill in is the @p to_node field so we know where to send the
+ * message. It is then updated with the details of the actual header sent.
+ * @param message Pointer to memory where the message is located
+ * @param len The size of the message
+ * @return Whether the message was successfully received
+ */
+ bool write(RF24NetworkHeader& header,const void* message, size_t len);
+
+protected:
+ void open_pipes(void);
+ uint16_t find_node( uint16_t current_node, uint16_t target_node );
+ bool write(uint16_t);
+ bool write_to_pipe( uint16_t node, uint8_t pipe );
+ bool enqueue(void);
+
+ bool is_direct_child( uint16_t node );
+ bool is_descendant( uint16_t node );
+ uint16_t direct_child_route_to( uint16_t node );
+ uint8_t pipe_to_descendant( uint16_t node );
+ void setup_address(void);
+
+private:
+ RF24& radio; /**< Underlying radio driver, provides link/physical layers */
+ uint16_t node_address; /**< Logical node address of this unit, 1 .. UINT_MAX */
+ const static int frame_size = 32; /**< How large is each frame over the air */
+ uint8_t frame_buffer[frame_size]; /**< Space to put the frame that will be sent/received over the air */
+ uint8_t frame_queue[5*frame_size]; /**< Space for a small set of frames that need to be delivered to the app layer */
+ uint8_t* next_frame; /**< Pointer into the @p frame_queue where we should place the next received frame */
+
+ uint16_t parent_node; /**< Our parent's node address */
+ uint8_t parent_pipe; /**< The pipe our parent uses to listen to us */
+ uint16_t node_mask; /**< The bits which contain signfificant node address information */
+ uint8_t min(uint8_t, uint8_t);
+};
+
+/**
+ * @example helloworld_tx.pde
+ *
+ * Simplest possible example of using RF24Network. Put this sketch
+ * on one node, and helloworld_rx.pde on the other. Tx will send
+ * Rx a nice message every 2 seconds which rx will print out for us.
+ */
+
+/**
+ * @example helloworld_rx.pde
+ *
+ * Simplest possible example of using RF24Network. Put this sketch
+ * on one node, and helloworld_tx.pde on the other. Tx will send
+ * Rx a nice message every 2 seconds which rx will print out for us.
+ */
+
+/**
+ * @example meshping.pde
+ *
+ * Example of pinging across a mesh network
+ * Using this sketch, each node will send a ping to the base every
+ * few seconds. The RF24Network library will route the message across
+ * the mesh to the correct node.
+ */
+
+/**
+ * @example sensornet.pde
+ *
+ * Example of a sensor network.
+ * This sketch demonstrates how to use the RF24Network library to
+ * manage a set of low-power sensor nodes which mostly sleep but
+ * awake regularly to send readings to the base.
+ */
+/**
+ * @mainpage Network Layer for RF24 Radios
+ *
+ * This class implements an <a href="http://en.wikipedia.org/wiki/Network_layer">OSI Network Layer</a> using nRF24L01(+) radios driven
+ * by the <a href="http://maniacbug.github.com/RF24/">RF24</a> library.
+ *
+ * @section Purpose Purpose/Goal
+ *
+ * Create an alternative to ZigBee radios for Arduino communication.
+ *
+ * Xbees are excellent little radios, backed up by a mature and robust standard
+ * protocol stack. They are also expensive.
+ *
+ * For many Arduino uses, they seem like overkill. So I am working to build
+ * an alternative using nRF24L01 radios. Modules are available for less than
+ * $6 from many sources. With the RF24Network layer, I hope to cover many
+ * common communication scenarios.
+ *
+ * Please see the @ref Zigbee page for a comparison against the ZigBee protocols
+ *
+ * @section Features Features
+ *
+ * The layer provides:
+ * @li Host Addressing. Each node has a logical address on the local network.
+ * @li Message Forwarding. Messages can be sent from one node to any other, and
+ * this layer will get them there no matter how many hops it takes.
+ * @li Ad-hoc Joining. A node can join a network without any changes to any
+ * existing nodes.
+ *
+ * The layer does not (yet) provide:
+ * @li Fragmentation/reassembly. Ability to send longer messages and put them
+ * all back together before exposing them up to the app.
+ * @li Power-efficient listening. It would be useful for nodes who are listening
+ * to sleep for extended periods of time if they could know that they would miss
+ * no traffic.
+ * @li Dynamic address assignment.
+ *
+ * @section More How to learn more
+ *
+ * @li <a href="http://maniacbug.github.com/RF24/">RF24: Underlying radio driver</a>
+ * @li <a href="classRF24Network.html">RF24Network Class Documentation</a>
+ * @li <a href="https://github.com/maniacbug/RF24Network/">Source Code</a>
+ * @li <a href="https://github.com/maniacbug/RF24Network/archives/master">Downloads Page</a>
+ * @li <a href="examples.html">Examples Page</a>. Start with <a href="helloworld_rx_8pde-example.html">helloworld_rx</a> and <a href="helloworld_tx_8pde-example.html">helloworld_tx</a>.
+ *
+ * @section Topology Topology for Mesh Networks using nRF24L01(+)
+ *
+ * This network layer takes advantage of the fundamental capability of the nRF24L01(+) radio to
+ * listen actively to up to 6 other radios at once. The network is arranged in a
+ * <a href="http://en.wikipedia.org/wiki/Network_Topology#Tree">Tree Topology</a>, where
+ * one node is the base, and all other nodes are children either of that node, or of another.
+ * Unlike a true mesh network, multiple nodes are not connected together, so there is only one
+ * path to any given node.
+ *
+ * @section Octal Octal Addressing
+ *
+ * Each node must be assigned an 15-bit address by the administrator. This address exactly
+ * describes the position of the node within the tree. The address is an octal number. Each
+ * digit in the address represents a position in the tree further from the base.
+ *
+ * @li Node 00 is the base node.
+ * @li Nodes 01-05 are nodes whose parent is the base.
+ * @li Node 021 is the second child of node 01.
+ * @li Node 0321 is the third child of node 021, an so on.
+ * @li The largest node address is 05555, so 3,125 nodes are allowed on a single channel.
+ *
+ * @section Routing How routing is handled
+ *
+ * When sending a message using RF24Network::write(), you fill in the header with the logical
+ * node address. The network layer figures out the right path to find that node, and sends
+ * it through the system until it gets to the right place. This works even if the two nodes
+ * are far separated, as it will send the message down to the base node, and then back out
+ * to the final destination.
+ *
+ * All of this work is handled by the RF24Network::update() method, so be sure to call it
+ * regularly or your network will miss packets.
+ *
+ * @section Startup Starting up a node
+ *
+ * When a node starts up, it only has to contact its parent to establish communication.
+ * No direct connection to the Base node is needed. This is useful in situations where
+ * relay nodes are being used to bridge the distance to the base, so leaf nodes are out
+ * of range of the base.
+ *
+ * @section Directionality Directionality
+ *
+ * By default all nodes are always listening, so messages will quickly reach
+ * their destination.
+ *
+ * You may choose to sleep any nodes which do not have any active children on the network
+ * (i.e. leaf nodes). This is useful in a case where
+ * the leaf nodes are operating on batteries and need to sleep.
+ * This is useful for a sensor network. The leaf nodes can sleep most of the time, and wake
+ * every few minutes to send in a reading. However, messages cannot be sent to these
+ * sleeping nodes.
+ *
+ * In the future, I plan to write a system where messages can still be passed upward from
+ * the base, and get delivered when a sleeping node is ready to receive them. The radio
+ * and underlying driver support 'ack payloads', which will be a handy mechanism for this.
+ *
+ * @page Zigbee Comparison to ZigBee
+ *
+ * This network layer is influenced by the design of ZigBee, but does not implement it
+ * directly.
+ *
+ * @section Advantage Which is better?
+ *
+ * ZigBee is a much more robust, feature-rich set of protocols, with many different vendors
+ * providing compatible chips.
+ *
+ * RF24Network is cheap. While ZigBee radios are well over $20, nRF24L01 modules can be found
+ * for under $6. My personal favorite is
+ * <a href="http://www.mdfly.com/index.php?main_page=product_info&products_id=82">MDFly RF-IS2401</a>.
+ *
+ * @section Contrast Similiarities & Differences
+ *
+ * Here are some comparisons between RF24Network and ZigBee.
+ *
+ * @li Both networks support Star and Tree topologies. Only Zigbee supports a true mesh.
+ * @li In both networks, only leaf nodes can sleep (see @ref NodeNames).
+ * @li ZigBee nodes are configured using AT commands, or a separate Windows application.
+ * RF24 nodes are configured by recompiliing the firmware or writing to EEPROM.
+ *
+ * @section NodeNames Node Naming
+ *
+ * @li Leaf node: A node at the outer edge of the network with no children. ZigBee calls it
+ * an End Device node.
+ * @li Relay node: A node which has both parents and children, and relays messages from one
+ * to the other. ZigBee calls it a Router.
+ * @li Base node. The top of the tree node with no parents, only children. Typically this node
+ * will bridge to another kind of network like Ethernet. ZigBee calls it a Co-ordinator node.
+ */
+
+#endif // __RF24NETWORK_H__
+// vim:ai:cin:sts=2 sw=2 ft=cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF24Network/RF24Network_config.h Mon Jul 06 03:17:33 2015 +0000 @@ -0,0 +1,23 @@ + +/* + Copyright (C) 2011 James Coliz, Jr. <maniacbug@ymail.com> + + This program is free software; you can redistribute it and/or + modify it under the terms of the GNU General Public License + version 2 as published by the Free Software Foundation. + */ + +#ifndef __RF24_CONFIG_H__ +#define __RF24_CONFIG_H__ + +#include "mbed.h" + +#include <stddef.h> +#include <stdint.h> +#include <stdio.h> +#include <string.h> +#define _BV(x) (1<<(x)) + + +#endif // __RF24_CONFIG_H__ +// vim:ai:cin:sts=2 sw=2 ft=cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF24Network/Sync.cpp Mon Jul 06 03:17:33 2015 +0000
@@ -0,0 +1,93 @@
+/*
+ Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+// STL headers
+// C headers
+#include <stdlib.h>
+// Framework headers
+// Library headers
+#include <RF24Network.h>
+// Project headers
+// This component's header
+#include <Sync.h>
+
+/****************************************************************************/
+
+void Sync::update(void)
+{
+ // Pump the network
+ network.update();
+
+ // Look for changes to the data
+ uint8_t message[32];
+ uint8_t *mptr = message;
+ unsigned at = 0;
+ while ( at < len )
+ {
+ if ( app_data && internal_data && app_data[at] != internal_data[at] )
+ {
+ // Compose a message with the deltas
+ *mptr++ = at + 1;
+ *mptr++ = app_data[at];
+
+ // Update our internal view
+ internal_data[at] = app_data[at];
+ }
+ ++at;
+ }
+ // Zero out the remainder
+ while ( at++ < sizeof(message) )
+ *mptr++ = 0;
+
+ // If changes, send a message
+ if ( *message )
+ {
+ // TODO handle the case where this has to be broken into
+ // multiple messages
+ RF24NetworkHeader header(/*to node*/ to_node, /*type*/ 'S' /*Sync*/);
+ network.write(header,message,sizeof(message));
+ }
+
+ // Look for messages from the network
+ // Is there anything ready for us?
+ if ( network.available() )
+ {
+ // If so, take a look at it
+ RF24NetworkHeader header;
+ network.peek(header);
+
+ switch (header.type)
+ {
+ case 'S':
+ //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: SYN Received sync message\n\r"),millis()));
+
+ network.read(header,&message,sizeof(message));
+ // Parse the message and update the vars
+ mptr = message;
+ at = 0;
+ while ( mptr < message + sizeof(message) )
+ {
+ // A '0' in the first position means we are done
+ if ( !*mptr )
+ break;
+ uint8_t pos = (*mptr++) - 1;
+ uint8_t val = *mptr++;
+
+ //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: SYN Updated position %u to value %u\n\r"),millis(),pos,val));
+
+ app_data[pos] = val;
+ internal_data[pos] = val;
+ }
+ break;
+ default:
+ // Leave other messages for the app
+ break;
+ };
+ }
+}
+// vim:cin:ai:sts=2 sw=2 ft=cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF24Network/Sync.h Mon Jul 06 03:17:33 2015 +0000
@@ -0,0 +1,85 @@
+/*
+ Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+#ifndef __SYNC_H__
+#define __SYNC_H__
+
+// STL headers
+// C headers
+#include <stdlib.h>
+#include <string.h>
+// Framework headers
+// Library headers
+#include <RF24Network_config.h>
+// Project headers
+
+class RF24Network;
+
+/**
+ * Synchronizes a shared set of variables between multiple nodes
+ */
+
+class Sync
+{
+private:
+ RF24Network& network;
+ uint8_t* app_data; /**< Application's copy of the data */
+ uint8_t* internal_data; /**< Our copy of the data */
+ size_t len; /**< Length of the data in bytes */
+ uint16_t to_node; /**< The other node we're syncing with */
+
+protected:
+public:
+ /**
+ * Constructor
+ *
+ * @param _network Which network to syncrhonize over
+ */
+ Sync(RF24Network& _network): network(_network), app_data(NULL),
+ internal_data(NULL), len(0), to_node(0)
+ {
+ }
+ /**
+ * Begin the object
+ *
+ * @param _to_node Which node we are syncing with
+ */
+ void begin(uint16_t _to_node)
+ {
+ to_node = _to_node;
+ }
+ /**
+ * Declare the shared data set
+ *
+ * @param _data Location of shared data to be syncrhonized
+ */
+ template <class T>
+ void register_me(T& _data)
+ {
+ app_data = reinterpret_cast<uint8_t*>(&_data);
+ len = sizeof(_data);
+ internal_data = reinterpret_cast<uint8_t*>(malloc(len));
+ reset();
+ }
+
+ /**
+ * Reset the internal copy of the shared data set
+ */
+ void reset(void)
+ {
+ memcpy(internal_data,app_data,len);
+ }
+
+ /**
+ * Update the network and the shared data set
+ */
+ void update(void);
+};
+
+#endif // __SYNC_H__
+// vim:cin:ai:sts=2 sw=2 ft=cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jul 06 03:17:33 2015 +0000
@@ -0,0 +1,73 @@
+#include "mbed.h"
+#include <RF24Network.h>
+#include <nRF24L01P_Maniacbug.h>
+
+Serial pc(USBTX, USBRX);
+
+#define nrf_CE D9
+#define nrf_CSN D10
+#define nrf_IRQ PB_0
+#define spi_SCK D3
+#define spi_MOSI D4
+#define spi_MISO D5
+
+//RF24 radio(D11, D12, D13, D10, D9);
+RF24 radio(spi_MOSI, spi_MISO, spi_SCK, nrf_CSN, nrf_CE);
+
+// Network uses that radio
+RF24Network network(radio);
+
+// Address of our node
+const uint16_t this_node = 0;
+
+// Address of the other node
+const uint16_t other_node = 1;
+
+// How often to send 'hello world to the other unit
+const unsigned long interval = 100; //ms
+
+// When did we last send?
+unsigned long last_sent;
+
+// How many have we sent already
+unsigned long packets_sent;
+
+// Structure of our payload
+struct payload_t
+{
+ unsigned long ms;
+ unsigned long counter;
+
+ float vector_4d[4];
+};
+
+
+int main()
+{
+ pc.baud(921600);
+ wait_ms(1000);
+
+
+
+ pc.printf("mBed RF24 network node - Rx only\n");
+ radio.begin();
+ network.begin(/*channel*/ 90, /*node address*/ this_node);
+ wait_ms(2000);
+
+ while(1)
+ {
+ // Pump the network regularly
+ network.update();
+
+ // Is there anything ready for us?
+ while ( network.available() )
+ {
+ // If so, grab it and print it out
+ RF24NetworkHeader header_rx;
+ payload_t payload_rx;
+ network.read(header_rx,&payload_rx,sizeof(payload_rx));
+ pc.printf("Received packet # %d at %d ms, message: V4 %f, %f, %f, %f \n",payload_rx.counter,payload_rx.ms, payload_rx.vector_4d[0],payload_rx.vector_4d[1],payload_rx.vector_4d[2],payload_rx.vector_4d[3]);
+ }
+ }
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Mon Jul 06 03:17:33 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#58c3b7759abf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jul 06 03:17:33 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7cff1c4259d7 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/nRF24L01P_Maniacbug/nRF24L01P_Maniacbug.cpp Mon Jul 06 03:17:33 2015 +0000
@@ -0,0 +1,1003 @@
+/*
+ Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+#include "nRF24L01P_Maniacbug.h"
+
+/****************************************************************************/
+
+void RF24::csn(int mode)
+{
+ // Minimum ideal spi bus speed is 2x data rate
+ // If we assume 2Mbs data rate and 16Mhz clock, a
+ // divider of 4 is the minimum we want.
+ // CLK:BUS 8Mhz:2Mhz, 16Mhz:4Mhz, or 20Mhz:5Mhz
+//#ifdef ARDUINO
+// spi.setBitOrder(MSBFIRST);
+// spi.setDataMode(spi_MODE0);
+// spi.setClockDivider(spi_CLOCK_DIV4);
+//#endif
+// digitalWrite(csn_pin,mode);
+ csn_pin = mode;
+
+}
+
+/****************************************************************************/
+
+void RF24::ce(int level)
+{
+ //digitalWrite(ce_pin,level);
+ ce_pin = level;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::read_register(uint8_t reg, uint8_t* buf, uint8_t len)
+{
+ uint8_t status;
+
+ csn(LOW);
+ status = spi.write( R_REGISTER | ( REGISTER_MASK & reg ) );
+ while ( len-- )
+ *buf++ = spi.write(0xff);
+
+ csn(HIGH);
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::read_register(uint8_t reg)
+{
+ csn(LOW);
+ spi.write( R_REGISTER | ( REGISTER_MASK & reg ) );
+ uint8_t result = spi.write(0xff);
+
+ csn(HIGH);
+ return result;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::write_register(uint8_t reg, const uint8_t* buf, uint8_t len)
+{
+ uint8_t status;
+
+ csn(LOW);
+ status = spi.write( W_REGISTER | ( REGISTER_MASK & reg ) );
+ while ( len-- )
+ spi.write(*buf++);
+
+ csn(HIGH);
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::write_register(uint8_t reg, uint8_t value)
+{
+ uint8_t status;
+
+// IF_SERIAL_DEBUG(printf(("write_register(%02x,%02x)\r\n"),reg,value));
+
+ csn(LOW);
+ status = spi.write( W_REGISTER | ( REGISTER_MASK & reg ) );
+ spi.write(value);
+ csn(HIGH);
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::write_payload(const void* buf, uint8_t len)
+{
+ uint8_t status;
+
+ const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
+
+ uint8_t data_len = min(len,payload_size);
+ uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
+
+ //printf("[Writing %u bytes %u blanks]",data_len,blank_len);
+
+ csn(LOW);
+ status = spi.write( W_TX_PAYLOAD );
+ while ( data_len-- )
+ spi.write(*current++);
+ while ( blank_len-- )
+ spi.write(0);
+ csn(HIGH);
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::read_payload(void* buf, uint8_t len)
+{
+ uint8_t status;
+ uint8_t* current = reinterpret_cast<uint8_t*>(buf);
+
+ uint8_t data_len = min(len,payload_size);
+ uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
+
+ //printf("[Reading %u bytes %u blanks]",data_len,blank_len);
+
+ csn(LOW);
+ status = spi.write( R_RX_PAYLOAD );
+ while ( data_len-- )
+ *current++ = spi.write(0xff);
+ while ( blank_len-- )
+ spi.write(0xff);
+ csn(HIGH);
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::flush_rx(void)
+{
+ uint8_t status;
+
+ csn(LOW);
+ status = spi.write( FLUSH_RX );
+ csn(HIGH);
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::flush_tx(void)
+{
+ uint8_t status;
+
+ csn(LOW);
+ status = spi.write( FLUSH_TX );
+ csn(HIGH);
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::get_status(void)
+{
+ uint8_t status;
+
+ csn(LOW);
+ status = spi.write( NOP );
+ csn(HIGH);
+
+ return status;
+}
+
+/****************************************************************************/
+
+void RF24::print_status(uint8_t status)
+{
+ printf(("STATUS\t\t = 0x%02x RX_DR=%x TX_DS=%x MAX_RT=%x RX_P_NO=%x TX_FULL=%x\r\n"),
+ status,
+ (status & _BV(RX_DR))?1:0,
+ (status & _BV(TX_DS))?1:0,
+ (status & _BV(MAX_RT))?1:0,
+ ((status >> RX_P_NO) & 7),
+ (status & _BV(TX_FULL))?1:0
+ );
+}
+
+/****************************************************************************/
+
+void RF24::print_observe_tx(uint8_t value)
+{
+ printf(("OBSERVE_TX=%02x: POLS_CNT=%x ARC_CNT=%x\r\n"),
+ value,
+ (value >> PLOS_CNT) & 15,
+ (value >> ARC_CNT) & 15
+ );
+}
+
+/****************************************************************************/
+
+void RF24::print_byte_register(const char* name, uint8_t reg, uint8_t qty)
+{
+// char extra_tab = strlen(name) < 8 ? '\t' : 0;
+ printf("%s =",name);
+ while (qty--)
+ printf((" 0x%02x"),read_register(reg++));
+ printf(("\r\n"));
+}
+
+/****************************************************************************/
+
+void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
+{
+// char extra_tab = strlen_P(name) < 8 ? '\t' : 0;
+ printf("%s =",name);
+
+ while (qty--)
+ {
+ uint8_t buffer[5];
+ read_register(reg++,buffer,sizeof buffer);
+
+ printf((" 0x"));
+ uint8_t* bufptr = buffer + sizeof buffer;
+ while( --bufptr >= buffer )
+ printf(("%02x"),*bufptr);
+ }
+
+ printf(("\r\n"));
+}
+
+/****************************************************************************/
+
+RF24::RF24(PinName mosi, PinName miso, PinName sck, PinName _csnpin, PinName _cepin):
+ ce_pin(_cepin), csn_pin(_csnpin), wide_band(true), p_variant(false),
+ payload_size(32), ack_payload_available(false), dynamic_payloads_enabled(false),
+ pipe0_reading_address(0), spi(mosi, miso, sck)
+{
+ spi.frequency(10000000/5); // 2Mbit, 1/5th the maximum transfer rate for the spi bus
+ spi.format(8,0); // 8-bit, ClockPhase = 0, ClockPolarity = 0
+ wait_ms(100);
+}
+
+/****************************************************************************/
+
+void RF24::setChannel(uint8_t channel)
+{
+ // TODO: This method could take advantage of the 'wide_band' calculation
+ // done in setChannel() to require certain channel spacing.
+
+ const uint8_t max_channel = 127;
+ write_register(RF_CH,min(channel,max_channel));
+}
+
+/****************************************************************************/
+
+void RF24::setPayloadSize(uint8_t size)
+{
+ const uint8_t max_payload_size = 32;
+ payload_size = min(size,max_payload_size);
+}
+
+/****************************************************************************/
+
+uint8_t RF24::getPayloadSize(void)
+{
+ return payload_size;
+}
+
+/****************************************************************************/
+
+static const char rf24_datarate_e_str_0[] = "1MBPS";
+static const char rf24_datarate_e_str_1[] = "2MBPS";
+static const char rf24_datarate_e_str_2[] = "250KBPS";
+static const char * const rf24_datarate_e_str_P[] = {
+ rf24_datarate_e_str_0,
+ rf24_datarate_e_str_1,
+ rf24_datarate_e_str_2,
+};
+static const char rf24_model_e_str_0[] = "nRF24L01";
+static const char rf24_model_e_str_1[] = "nRF24L01+";
+static const char * const rf24_model_e_str_P[] = {
+ rf24_model_e_str_0,
+ rf24_model_e_str_1,
+};
+static const char rf24_crclength_e_str_0[] = "Disabled";
+static const char rf24_crclength_e_str_1[] = "8 bits";
+static const char rf24_crclength_e_str_2[] = "16 bits" ;
+static const char * const rf24_crclength_e_str_P[] = {
+ rf24_crclength_e_str_0,
+ rf24_crclength_e_str_1,
+ rf24_crclength_e_str_2,
+};
+static const char rf24_pa_dbm_e_str_0[] = "PA_MIN";
+static const char rf24_pa_dbm_e_str_1[] = "PA_LOW";
+static const char rf24_pa_dbm_e_str_2[] = "PA_MED";
+static const char rf24_pa_dbm_e_str_3[] = "PA_HIGH";
+static const char * const rf24_pa_dbm_e_str_P[] = {
+ rf24_pa_dbm_e_str_0,
+ rf24_pa_dbm_e_str_1,
+ rf24_pa_dbm_e_str_2,
+ rf24_pa_dbm_e_str_3,
+};
+
+void RF24::printDetails(void)
+{
+ print_status(get_status());
+
+ print_address_register(("RX_ADDR_P0-1"),RX_ADDR_P0,2);
+ print_byte_register(("RX_ADDR_P2-5"),RX_ADDR_P2,4);
+ print_address_register(("TX_ADDR"),TX_ADDR);
+
+ print_byte_register(("RX_PW_P0-6"),RX_PW_P0,6);
+ print_byte_register(("EN_AA"),EN_AA);
+ print_byte_register(("EN_RXADDR"),EN_RXADDR);
+ print_byte_register(("RF_CH"),RF_CH);
+ print_byte_register(("RF_SETUP"),RF_SETUP);
+ print_byte_register(("CONFIG"),CONFIG);
+ print_byte_register(("DYNPD/FEATURE"),DYNPD,2);
+
+ printf(("Data Rate\t = %s\r\n"), rf24_datarate_e_str_P[getDataRate()]);
+ printf(("Model\t\t = %s\r\n"), rf24_model_e_str_P[isPVariant()]);
+ printf(("CRC Length\t = %s\r\n"),rf24_crclength_e_str_P[getCRCLength()]);
+ printf(("PA Power\t = %s\r\n"),rf24_pa_dbm_e_str_P[getPALevel()]);
+}
+
+/****************************************************************************/
+
+void RF24::begin(void)
+{
+ // Initialize pins
+// pinMode(ce_pin,OUTPUT);
+// pinMode(csn_pin,OUTPUT);
+
+ // Initialize spi bus
+ //spi.begin();
+ mainTimer.start();
+
+ ce(LOW);
+ csn(HIGH);
+
+ // Must allow the radio time to settle else configuration bits will not necessarily stick.
+ // This is actually only required following power up but some settling time also appears to
+ // be required after resets too. For full coverage, we'll always assume the worst.
+ // Enabling 16b CRC is by far the most obvious case if the wrong timing is used - or skipped.
+ // Technically we require 4.5ms + 14us as a worst case. We'll just call it 5ms for good measure.
+ // WARNING: wait_ms is based on P-variant whereby non-P *may* require different timing.
+ wait_ms( 5 ) ;
+
+ // Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
+ // WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
+ // sizes must never be used. See documentation for a more complete explanation.
+ write_register(SETUP_RETR,(4 << ARD) | (15 << ARC));
+
+ // Restore our default PA level
+ setPALevel( RF24_PA_MAX ) ;
+
+ // Determine if this is a p or non-p RF24 module and then
+ // reset our data rate back to default value. This works
+ // because a non-P variant won't allow the data rate to
+ // be set to 250Kbps.
+ if( setDataRate( RF24_250KBPS ) )
+ {
+ p_variant = true ;
+ }
+
+ // Then set the data rate to the slowest (and most reliable) speed supported by all
+ // hardware.
+ setDataRate( RF24_1MBPS ) ;
+
+ // Initialize CRC and request 2-byte (16bit) CRC
+ setCRCLength( RF24_CRC_16 ) ;
+
+ // Disable dynamic payloads, to match dynamic_payloads_enabled setting
+ write_register(DYNPD,0);
+
+ // Reset current status
+ // Notice reset and flush is the last thing we do
+ write_register(STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
+
+ // Set up default configuration. Callers can always change it later.
+ // This channel should be universally safe and not bleed over into adjacent
+ // spectrum.
+ //setChannel(76);
+ setChannel(90);
+
+ // Flush buffers
+ flush_rx();
+ flush_tx();
+
+ // set EN_RXADDRR to 0 to fix pipe 0 from receiving
+ write_register(EN_RXADDR, 0);
+}
+
+/****************************************************************************/
+
+void RF24::startListening(void)
+{
+ write_register(CONFIG, read_register(CONFIG) | _BV(PWR_UP) | _BV(PRIM_RX));
+ write_register(STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
+
+ // Restore the pipe0 adddress, if exists
+ if (pipe0_reading_address)
+ write_register(RX_ADDR_P0, reinterpret_cast<const uint8_t*>(&pipe0_reading_address), 5);
+
+ // Flush buffers
+ flush_rx();
+ flush_tx();
+
+ // Go!
+ ce(HIGH);
+
+ // wait for the radio to come up (130us actually only needed)
+// wait_msMicroseconds(130);
+ wait_us(130);
+}
+
+/****************************************************************************/
+
+void RF24::stopListening(void)
+{
+ ce(LOW);
+ flush_tx();
+ flush_rx();
+}
+
+/****************************************************************************/
+
+void RF24::powerDown(void)
+{
+ write_register(CONFIG,read_register(CONFIG) & ~_BV(PWR_UP));
+}
+
+/****************************************************************************/
+
+void RF24::powerUp(void)
+{
+ write_register(CONFIG,read_register(CONFIG) | _BV(PWR_UP));
+}
+
+/******************************************************************/
+
+bool RF24::write( const void* buf, uint8_t len )
+{
+ bool result = false;
+
+ // Begin the write
+ startWrite(buf,len);
+
+ // ------------
+ // At this point we could return from a non-blocking write, and then call
+ // the rest after an interrupt
+
+ // Instead, we are going to block here until we get TX_DS (transmission completed and ack'd)
+ // or MAX_RT (maximum retries, transmission failed). Also, we'll timeout in case the radio
+ // is flaky and we get neither.
+
+ // IN the end, the send should be blocking. It comes back in 60ms worst case, or much faster
+ // if I tighted up the retry logic. (Default settings will be 1500us.
+ // Monitor the send
+ uint8_t observe_tx;
+ uint8_t status;
+ uint32_t sent_at = mainTimer.read_ms();
+ const uint32_t timeout = 500; //ms to wait for timeout
+ do
+ {
+ status = read_register(OBSERVE_TX,&observe_tx,1);
+// IF_SERIAL_DEBUG(Serial.print(observe_tx,HEX));
+ }
+ while( ! ( status & ( _BV(TX_DS) | _BV(MAX_RT) ) ) && ( mainTimer.read_ms() - sent_at < timeout ) );
+
+ // The part above is what you could recreate with your own interrupt handler,
+ // and then call this when you got an interrupt
+ // ------------
+
+ // Call this when you get an interrupt
+ // The status tells us three things
+ // * The send was successful (TX_DS)
+ // * The send failed, too many retries (MAX_RT)
+ // * There is an ack packet waiting (RX_DR)
+ bool tx_ok, tx_fail;
+ whatHappened(tx_ok,tx_fail,ack_payload_available);
+
+ //printf("%u%u%u\r\n",tx_ok,tx_fail,ack_payload_available);
+
+ result = tx_ok;
+// IF_SERIAL_DEBUG(Serial.print(result?"...OK.":"...Failed"));
+
+ // Handle the ack packet
+ if ( ack_payload_available )
+ {
+ ack_payload_length = getDynamicPayloadSize();
+// IF_SERIAL_DEBUG(Serial.print("[AckPacket]/"));
+// IF_SERIAL_DEBUG(Serial.println(ack_payload_length,DEC));
+ }
+
+ // Yay, we are done.
+
+ // Power down
+// powerDown();
+
+ // Flush buffers (Is this a relic of past experimentation, and not needed anymore?
+// flush_tx();
+
+ return result;
+}
+/****************************************************************************/
+
+void RF24::startWrite( const void* buf, uint8_t len )
+{
+ // Transmitter power-up
+ write_register(CONFIG, ( read_register(CONFIG) | _BV(PWR_UP) ) & ~_BV(PRIM_RX) );
+// wait_msMicroseconds(150);
+ wait_us(130);
+
+ // Send the payload
+ write_payload( buf, len );
+
+ // Allons!
+ ce(HIGH);
+// wait_msMicroseconds(15);
+ wait_us(15);
+ ce(LOW);
+}
+
+/****************************************************************************/
+
+uint8_t RF24::getDynamicPayloadSize(void)
+{
+ uint8_t result = 0;
+
+ csn(LOW);
+ spi.write( R_RX_PL_WID );
+ result = spi.write(0xff);
+ csn(HIGH);
+
+ return result;
+}
+
+/****************************************************************************/
+
+bool RF24::available(void)
+{
+ return available(NULL);
+}
+
+/****************************************************************************/
+
+bool RF24::available(uint8_t* pipe_num)
+{
+ uint8_t status = get_status();
+
+ // Too noisy, enable if you really want lots o data!!
+ //IF_SERIAL_DEBUG(print_status(status));
+
+ bool result = ( status & _BV(RX_DR) );
+
+ if (result)
+ {
+ // If the caller wants the pipe number, include that
+ if ( pipe_num )
+ *pipe_num = ( status >> RX_P_NO ) & 7;
+
+ // Clear the status bit
+
+ // ??? Should this REALLY be cleared now? Or wait until we
+ // actually READ the payload?
+
+ write_register(STATUS,_BV(RX_DR) );
+
+ // Handle ack payload receipt
+ if ( status & _BV(TX_DS) )
+ {
+ write_register(STATUS,_BV(TX_DS));
+ }
+ }
+
+ return result;
+}
+
+/****************************************************************************/
+
+bool RF24::read( void* buf, uint8_t len )
+{
+ // Fetch the payload
+ read_payload( buf, len );
+
+ // was this the last of the data available?
+ return read_register(FIFO_STATUS) & _BV(RX_EMPTY);
+}
+
+/****************************************************************************/
+
+void RF24::whatHappened(bool& tx_ok,bool& tx_fail,bool& rx_ready)
+{
+ // Read the status & reset the status in one easy call
+ // Or is that such a good idea?
+ uint8_t status = write_register(STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
+
+ // Report to the user what happened
+ tx_ok = status & _BV(TX_DS);
+ tx_fail = status & _BV(MAX_RT);
+ rx_ready = status & _BV(RX_DR);
+}
+
+/****************************************************************************/
+
+void RF24::openWritingPipe(uint64_t value)
+{
+ // Note that AVR 8-bit uC's store this LSB first, and the NRF24L01(+)
+ // expects it LSB first too, so we're good.
+
+ write_register(RX_ADDR_P0, reinterpret_cast<uint8_t*>(&value), 5);
+ write_register(TX_ADDR, reinterpret_cast<uint8_t*>(&value), 5);
+
+ const uint8_t max_payload_size = 32;
+ write_register(RX_PW_P0,min(payload_size,max_payload_size));
+
+ flush_tx();
+}
+
+/****************************************************************************/
+
+static const uint8_t child_pipe[] =
+{
+ RX_ADDR_P0, RX_ADDR_P1, RX_ADDR_P2, RX_ADDR_P3, RX_ADDR_P4, RX_ADDR_P5
+};
+static const uint8_t child_payload_size[] =
+{
+ RX_PW_P0, RX_PW_P1, RX_PW_P2, RX_PW_P3, RX_PW_P4, RX_PW_P5
+};
+static const uint8_t child_pipe_enable[] =
+{
+ ERX_P0, ERX_P1, ERX_P2, ERX_P3, ERX_P4, ERX_P5
+};
+
+void RF24::openReadingPipe(uint8_t child, uint64_t address)
+{
+ // If this is pipe 0, cache the address. This is needed because
+ // openWritingPipe() will overwrite the pipe 0 address, so
+ // startListening() will have to restore it.
+ if (child == 0)
+ pipe0_reading_address = address;
+
+ if (child <= 6)
+ {
+ // For pipes 2-5, only write the LSB
+ if ( child < 2 )
+ write_register(child_pipe[child], reinterpret_cast<const uint8_t*>(&address), 5);
+ else
+ write_register(child_pipe[child], reinterpret_cast<const uint8_t*>(&address), 1);
+
+ write_register(child_payload_size[child],payload_size);
+
+ // Note it would be more efficient to set all of the bits for all open
+ // pipes at once. However, I thought it would make the calling code
+ // more simple to do it this way.
+ write_register(EN_RXADDR,read_register(EN_RXADDR) | _BV(child_pipe_enable[child]));
+ }
+}
+
+/****************************************************************************/
+
+void RF24::toggle_features(void)
+{
+ csn(LOW);
+ spi.write( ACTIVATE );
+ spi.write( 0x73 );
+ csn(HIGH);
+}
+
+/****************************************************************************/
+
+void RF24::enableDynamicPayloads(void)
+{
+ // Enable dynamic payload throughout the system
+ write_register(FEATURE,read_register(FEATURE) | _BV(EN_DPL) );
+
+ // If it didn't work, the features are not enabled
+ if ( ! read_register(FEATURE) )
+ {
+ // So enable them and try again
+ toggle_features();
+ write_register(FEATURE,read_register(FEATURE) | _BV(EN_DPL) );
+ }
+
+// IF_SERIAL_DEBUG(printf("FEATURE=%i\r\n",read_register(FEATURE)));
+
+ // Enable dynamic payload on all pipes
+ //
+ // Not sure the use case of only having dynamic payload on certain
+ // pipes, so the library does not support it.
+ write_register(DYNPD,read_register(DYNPD) | _BV(DPL_P5) | _BV(DPL_P4) | _BV(DPL_P3) | _BV(DPL_P2) | _BV(DPL_P1) | _BV(DPL_P0));
+
+ dynamic_payloads_enabled = true;
+}
+
+/****************************************************************************/
+
+void RF24::enableAckPayload(void)
+{
+ //
+ // enable ack payload and dynamic payload features
+ //
+
+ write_register(FEATURE,read_register(FEATURE) | _BV(EN_ACK_PAY) | _BV(EN_DPL) );
+
+ // If it didn't work, the features are not enabled
+ if ( ! read_register(FEATURE) )
+ {
+ // So enable them and try again
+ toggle_features();
+ write_register(FEATURE,read_register(FEATURE) | _BV(EN_ACK_PAY) | _BV(EN_DPL) );
+ }
+
+// IF_SERIAL_DEBUG(printf("FEATURE=%i\r\n",read_register(FEATURE)));
+
+ //
+ // Enable dynamic payload on pipes 0 & 1
+ //
+
+ write_register(DYNPD,read_register(DYNPD) | _BV(DPL_P1) | _BV(DPL_P0));
+}
+
+/****************************************************************************/
+
+void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
+{
+ const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
+
+ csn(LOW);
+ spi.write( W_ACK_PAYLOAD | ( pipe & 7 ) );
+ const uint8_t max_payload_size = 32;
+ uint8_t data_len = min(len,max_payload_size);
+ while ( data_len-- )
+ spi.write(*current++);
+
+ csn(HIGH);
+}
+
+/****************************************************************************/
+
+bool RF24::isAckPayloadAvailable(void)
+{
+ bool result = ack_payload_available;
+ ack_payload_available = false;
+ return result;
+}
+
+/****************************************************************************/
+
+bool RF24::isPVariant(void)
+{
+ return p_variant ;
+}
+
+/****************************************************************************/
+
+void RF24::setAutoAck(bool enable)
+{
+ if ( enable )
+ write_register(EN_AA, 63);
+ else
+ write_register(EN_AA, 0);
+}
+
+/****************************************************************************/
+
+void RF24::setAutoAck( uint8_t pipe, bool enable )
+{
+ if ( pipe <= 6 )
+ {
+ uint8_t en_aa = read_register( EN_AA ) ;
+ if( enable )
+ {
+ en_aa |= _BV(pipe) ;
+ }
+ else
+ {
+ en_aa &= ~_BV(pipe) ;
+ }
+ write_register( EN_AA, en_aa ) ;
+ }
+}
+
+/****************************************************************************/
+
+bool RF24::testCarrier(void)
+{
+ return ( read_register(CD) & 1 );
+}
+
+/****************************************************************************/
+
+bool RF24::testRPD(void)
+{
+ return ( read_register(RPD) & 1 ) ;
+}
+
+/****************************************************************************/
+
+void RF24::setPALevel(rf24_pa_dbm_e level)
+{
+ uint8_t setup = read_register(RF_SETUP) ;
+ setup &= ~(_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
+
+ // switch uses RAM (evil!)
+ if ( level == RF24_PA_MAX )
+ {
+ setup |= (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
+ }
+ else if ( level == RF24_PA_HIGH )
+ {
+ setup |= _BV(RF_PWR_HIGH) ;
+ }
+ else if ( level == RF24_PA_LOW )
+ {
+ setup |= _BV(RF_PWR_LOW);
+ }
+ else if ( level == RF24_PA_MIN )
+ {
+ // nothing
+ }
+ else if ( level == RF24_PA_ERROR )
+ {
+ // On error, go to maximum PA
+ setup |= (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
+ }
+
+ write_register( RF_SETUP, setup ) ;
+}
+
+/****************************************************************************/
+
+rf24_pa_dbm_e RF24::getPALevel(void)
+{
+ rf24_pa_dbm_e result = RF24_PA_ERROR ;
+ uint8_t power = read_register(RF_SETUP) & (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
+
+ // switch uses RAM (evil!)
+ if ( power == (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) )
+ {
+ result = RF24_PA_MAX ;
+ }
+ else if ( power == _BV(RF_PWR_HIGH) )
+ {
+ result = RF24_PA_HIGH ;
+ }
+ else if ( power == _BV(RF_PWR_LOW) )
+ {
+ result = RF24_PA_LOW ;
+ }
+ else
+ {
+ result = RF24_PA_MIN ;
+ }
+
+ return result ;
+}
+
+/****************************************************************************/
+
+bool RF24::setDataRate(rf24_datarate_e speed)
+{
+ bool result = false;
+ uint8_t setup = read_register(RF_SETUP) ;
+
+ // HIGH and LOW '00' is 1Mbs - our default
+ wide_band = false ;
+ setup &= ~(_BV(RF_DR_LOW) | _BV(RF_DR_HIGH)) ;
+ if( speed == RF24_250KBPS )
+ {
+ // Must set the RF_DR_LOW to 1; RF_DR_HIGH (used to be RF_DR) is already 0
+ // Making it '10'.
+ wide_band = false ;
+ setup |= _BV( RF_DR_LOW ) ;
+ }
+ else
+ {
+ // Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
+ // Making it '01'
+ if ( speed == RF24_2MBPS )
+ {
+ wide_band = true ;
+ setup |= _BV(RF_DR_HIGH);
+ }
+ else
+ {
+ // 1Mbs
+ wide_band = false ;
+ }
+ }
+ write_register(RF_SETUP,setup);
+
+ // Verify our result
+ if ( read_register(RF_SETUP) == setup )
+ {
+ result = true;
+ }
+ else
+ {
+ wide_band = false;
+ }
+
+ return result;
+}
+
+/****************************************************************************/
+
+rf24_datarate_e RF24::getDataRate( void )
+{
+ rf24_datarate_e result ;
+ uint8_t dr = read_register(RF_SETUP) & (_BV(RF_DR_LOW) | _BV(RF_DR_HIGH));
+
+ // switch uses RAM (evil!)
+ // Order matters in our case below
+ if ( dr == _BV(RF_DR_LOW) )
+ {
+ // '10' = 250KBPS
+ result = RF24_250KBPS ;
+ }
+ else if ( dr == _BV(RF_DR_HIGH) )
+ {
+ // '01' = 2MBPS
+ result = RF24_2MBPS ;
+ }
+ else
+ {
+ // '00' = 1MBPS
+ result = RF24_1MBPS ;
+ }
+ return result ;
+}
+
+/****************************************************************************/
+
+void RF24::setCRCLength(rf24_crclength_e length)
+{
+ uint8_t config = read_register(CONFIG) & ~( _BV(CRCO) | _BV(EN_CRC)) ;
+
+ if ( length == RF24_CRC_DISABLED )
+ {
+ // Do nothing, we turned it off above.
+ }
+ else if ( length == RF24_CRC_8 )
+ {
+ config |= _BV(EN_CRC);
+ }
+ else
+ {
+ config |= _BV(EN_CRC);
+ config |= _BV( CRCO );
+ }
+ write_register( CONFIG, config ) ;
+}
+
+/****************************************************************************/
+
+rf24_crclength_e RF24::getCRCLength(void)
+{
+ rf24_crclength_e result = RF24_CRC_DISABLED;
+ uint8_t config = read_register(CONFIG) & ( _BV(CRCO) | _BV(EN_CRC)) ;
+
+ if ( config & _BV(EN_CRC ) )
+ {
+ if ( config & _BV(CRCO) )
+ result = RF24_CRC_16;
+ else
+ result = RF24_CRC_8;
+ }
+
+ return result;
+}
+
+/****************************************************************************/
+
+void RF24::disableCRC( void )
+{
+ uint8_t disable = read_register(CONFIG) & ~_BV(EN_CRC) ;
+ write_register( CONFIG, disable ) ;
+}
+
+/****************************************************************************/
+void RF24::setRetries(uint8_t delay, uint8_t count)
+{
+ write_register(SETUP_RETR,(delay&0xf)<<ARD | (count&0xf)<<ARC);
+}
+
+uint8_t RF24::min(uint8_t a, uint8_t b)
+{
+ if(a < b)
+ return a;
+ else
+ return b;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/nRF24L01P_Maniacbug/nRF24L01P_Maniacbug.h Mon Jul 06 03:17:33 2015 +0000
@@ -0,0 +1,779 @@
+/*
+ Copyright (c) 2007 Stefan Engelke <mbox@stefanengelke.de>
+
+ Permission is hereby granted, free of charge, to any person
+ obtaining a copy of this software and associated documentation
+ files (the "Software"), to deal in the Software without
+ restriction, including without limitation the rights to use, copy,
+ modify, merge, publish, distribute, sublicense, and/or sell copies
+ of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be
+ included in all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ DEALINGS IN THE SOFTWARE.
+*/
+
+/* Memory Map */
+#define CONFIG 0x00
+#define EN_AA 0x01
+#define EN_RXADDR 0x02
+#define SETUP_AW 0x03
+#define SETUP_RETR 0x04
+#define RF_CH 0x05
+#define RF_SETUP 0x06
+#define STATUS 0x07
+#define OBSERVE_TX 0x08
+#define CD 0x09
+#define RX_ADDR_P0 0x0A
+#define RX_ADDR_P1 0x0B
+#define RX_ADDR_P2 0x0C
+#define RX_ADDR_P3 0x0D
+#define RX_ADDR_P4 0x0E
+#define RX_ADDR_P5 0x0F
+#define TX_ADDR 0x10
+#define RX_PW_P0 0x11
+#define RX_PW_P1 0x12
+#define RX_PW_P2 0x13
+#define RX_PW_P3 0x14
+#define RX_PW_P4 0x15
+#define RX_PW_P5 0x16
+#define FIFO_STATUS 0x17
+#define DYNPD 0x1C
+#define FEATURE 0x1D
+
+/* Bit Mnemonics */
+#define MASK_RX_DR 6
+#define MASK_TX_DS 5
+#define MASK_MAX_RT 4
+#define EN_CRC 3
+#define CRCO 2
+#define PWR_UP 1
+#define PRIM_RX 0
+#define ENAA_P5 5
+#define ENAA_P4 4
+#define ENAA_P3 3
+#define ENAA_P2 2
+#define ENAA_P1 1
+#define ENAA_P0 0
+#define ERX_P5 5
+#define ERX_P4 4
+#define ERX_P3 3
+#define ERX_P2 2
+#define ERX_P1 1
+#define ERX_P0 0
+#define AW 0
+#define ARD 4
+#define ARC 0
+#define PLL_LOCK 4
+#define RF_DR 3
+#define RF_PWR 6
+#define RX_DR 6
+#define TX_DS 5
+#define MAX_RT 4
+#define RX_P_NO 1
+#define TX_FULL 0
+#define PLOS_CNT 4
+#define ARC_CNT 0
+#define TX_REUSE 6
+#define FIFO_FULL 5
+#define TX_EMPTY 4
+#define RX_FULL 1
+#define RX_EMPTY 0
+#define DPL_P5 5
+#define DPL_P4 4
+#define DPL_P3 3
+#define DPL_P2 2
+#define DPL_P1 1
+#define DPL_P0 0
+#define EN_DPL 2
+#define EN_ACK_PAY 1
+#define EN_DYN_ACK 0
+
+/* Instruction Mnemonics */
+#define R_REGISTER 0x00
+#define W_REGISTER 0x20
+#define REGISTER_MASK 0x1F
+#define ACTIVATE 0x50
+#define R_RX_PL_WID 0x60
+#define R_RX_PAYLOAD 0x61
+#define W_TX_PAYLOAD 0xA0
+#define W_ACK_PAYLOAD 0xA8
+#define FLUSH_TX 0xE1
+#define FLUSH_RX 0xE2
+#define REUSE_TX_PL 0xE3
+#define NOP 0xFF
+
+/* Non-P omissions */
+#define LNA_HCURR 0
+
+/* P model memory Map */
+#define RPD 0x09
+
+/* P model bit Mnemonics */
+#define RF_DR_LOW 5
+#define RF_DR_HIGH 3
+#define RF_PWR_LOW 1
+#define RF_PWR_HIGH 2
+
+#define HIGH 1
+#define LOW 0
+#define _BV(n) (1 << n)
+
+/*
+ Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+/**
+ * @file RF24.h
+ *
+ * Class declaration for RF24 and helper enums
+ */
+
+#ifndef __RF24_H__
+#define __RF24_H__
+
+#include <mbed.h>
+
+/**
+ * Power Amplifier level.
+ *
+ * For use with setPALevel()
+ */
+typedef enum { RF24_PA_MIN = 0,RF24_PA_LOW, RF24_PA_HIGH, RF24_PA_MAX, RF24_PA_ERROR } rf24_pa_dbm_e ;
+
+/**
+ * Data rate. How fast data moves through the air.
+ *
+ * For use with setDataRate()
+ */
+typedef enum { RF24_1MBPS = 0, RF24_2MBPS, RF24_250KBPS } rf24_datarate_e;
+
+/**
+ * CRC Length. How big (if any) of a CRC is included.
+ *
+ * For use with setCRCLength()
+ */
+typedef enum { RF24_CRC_DISABLED = 0, RF24_CRC_8, RF24_CRC_16 } rf24_crclength_e;
+
+/**
+ * Driver for nRF24L01(+) 2.4GHz Wireless Transceiver
+ */
+
+class RF24
+{
+private:
+ DigitalOut ce_pin; /**< "Chip Enable" pin, activates the RX or TX role */
+ DigitalOut csn_pin; /**< SPI Chip select */
+ bool wide_band; /* 2Mbs data rate in use? */
+ bool p_variant; /* False for RF24L01 and true for RF24L01P */
+ uint8_t payload_size; /**< Fixed size of payloads */
+ bool ack_payload_available; /**< Whether there is an ack payload waiting */
+ bool dynamic_payloads_enabled; /**< Whether dynamic payloads are enabled. */
+ uint8_t ack_payload_length; /**< Dynamic size of pending ack payload. */
+ uint64_t pipe0_reading_address; /**< Last address set on pipe 0 for reading. */
+ SPI spi;
+ Timer mainTimer;
+
+protected:
+ /**
+ * @name Low-level internal interface.
+ *
+ * Protected methods that address the chip directly. Regular users cannot
+ * ever call these. They are documented for completeness and for developers who
+ * may want to extend this class.
+ */
+ /**@{*/
+
+ /**
+ * Set chip select pin
+ *
+ * Running SPI bus at PI_CLOCK_DIV2 so we don't waste time transferring data
+ * and best of all, we make use of the radio's FIFO buffers. A lower speed
+ * means we're less likely to effectively leverage our FIFOs and pay a higher
+ * AVR runtime cost as toll.
+ *
+ * @param mode HIGH to take this unit off the SPI bus, LOW to put it on
+ */
+ void csn(int mode);
+
+ /**
+ * Set chip enable
+ *
+ * @param level HIGH to actively begin transmission or LOW to put in standby. Please see data sheet
+ * for a much more detailed description of this pin.
+ */
+ void ce(int level);
+
+
+ /**
+ * Read a chunk of data in from a register
+ *
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param buf Where to put the data
+ * @param len How many bytes of data to transfer
+ * @return Current value of status register
+ */
+ uint8_t read_register(uint8_t reg, uint8_t* buf, uint8_t len);
+
+ /**
+ * Read single byte from a register
+ *
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @return Current value of register @p reg
+ */
+ uint8_t read_register(uint8_t reg);
+
+ /**
+ * Write a chunk of data to a register
+ *
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param buf Where to get the data
+ * @param len How many bytes of data to transfer
+ * @return Current value of status register
+ */
+ uint8_t write_register(uint8_t reg, const uint8_t* buf, uint8_t len);
+
+ /**
+ * Write a single byte to a register
+ *
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param value The new value to write
+ * @return Current value of status register
+ */
+ uint8_t write_register(uint8_t reg, uint8_t value);
+
+ /**
+ * Write the transmit payload
+ *
+ * The size of data written is the fixed payload size, see getPayloadSize()
+ *
+ * @param buf Where to get the data
+ * @param len Number of bytes to be sent
+ * @return Current value of status register
+ */
+ uint8_t write_payload(const void* buf, uint8_t len);
+
+ /**
+ * Read the receive payload
+ *
+ * The size of data read is the fixed payload size, see getPayloadSize()
+ *
+ * @param buf Where to put the data
+ * @param len Maximum number of bytes to read
+ * @return Current value of status register
+ */
+ uint8_t read_payload(void* buf, uint8_t len);
+
+
+ /**
+ * Decode and print the given status to stdout
+ *
+ * @param status Status value to print
+ *
+ * @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
+ */
+ void print_status(uint8_t status);
+
+ /**
+ * Decode and print the given 'observe_tx' value to stdout
+ *
+ * @param value The observe_tx value to print
+ *
+ * @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
+ */
+ void print_observe_tx(uint8_t value);
+
+ /**
+ * Print the name and value of an 8-bit register to stdout
+ *
+ * Optionally it can print some quantity of successive
+ * registers on the same line. This is useful for printing a group
+ * of related registers on one line.
+ *
+ * @param name Name of the register
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param qty How many successive registers to print
+ */
+ void print_byte_register(const char* name, uint8_t reg, uint8_t qty = 1);
+
+ /**
+ * Print the name and value of a 40-bit address register to stdout
+ *
+ * Optionally it can print some quantity of successive
+ * registers on the same line. This is useful for printing a group
+ * of related registers on one line.
+ *
+ * @param name Name of the register
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param qty How many successive registers to print
+ */
+ void print_address_register(const char* name, uint8_t reg, uint8_t qty = 1);
+
+ /**
+ * Turn on or off the special features of the chip
+ *
+ * The chip has certain 'features' which are only available when the 'features'
+ * are enabled. See the datasheet for details.
+ */
+ void toggle_features(void);
+ /**@}*/
+
+public:
+ /**
+ * @name Primary public interface
+ *
+ * These are the main methods you need to operate the chip
+ */
+ /**@{*/
+
+ /**
+ * Constructor
+ *
+ * Creates a new instance of this driver. Before using, you create an instance
+ * and send in the unique pins that this chip is connected to.
+ *
+ * @param _cepin The pin attached to Chip Enable on the RF module
+ * @param _cspin The pin attached to Chip Select
+ */
+ RF24(PinName mosi, PinName miso, PinName sck, PinName _csnpin, PinName _cepin);
+
+ /**
+ * Begin operation of the chip
+ *
+ * Call this in setup(), before calling any other methods.
+ */
+ void begin(void);
+
+ /**
+ * Retrieve the current status of the chip
+ *
+ * @return Current value of status register
+ */
+ uint8_t get_status(void);
+
+ /**
+ * Empty the receive buffer
+ *
+ * @return Current value of status register
+ */
+ uint8_t flush_rx(void);
+
+ /**
+ * Empty the transmit buffer
+ *
+ * @return Current value of status register
+ */
+ uint8_t flush_tx(void);
+
+ /**
+ * Start listening on the pipes opened for reading.
+ *
+ * Be sure to call openReadingPipe() first. Do not call write() while
+ * in this mode, without first calling stopListening(). Call
+ * isAvailable() to check for incoming traffic, and read() to get it.
+ */
+ void startListening(void);
+
+ /**
+ * Stop listening for incoming messages
+ *
+ * Do this before calling write().
+ */
+ void stopListening(void);
+
+ /**
+ * Write to the open writing pipe
+ *
+ * Be sure to call openWritingPipe() first to set the destination
+ * of where to write to.
+ *
+ * This blocks until the message is successfully acknowledged by
+ * the receiver or the timeout/retransmit maxima are reached. In
+ * the current configuration, the max delay here is 60ms.
+ *
+ * The maximum size of data written is the fixed payload size, see
+ * getPayloadSize(). However, you can write less, and the remainder
+ * will just be filled with zeroes.
+ *
+ * @param buf Pointer to the data to be sent
+ * @param len Number of bytes to be sent
+ * @return True if the payload was delivered successfully false if not
+ */
+ bool write( const void* buf, uint8_t len );
+
+ /**
+ * Test whether there are bytes available to be read
+ *
+ * @return True if there is a payload available, false if none is
+ */
+ bool available(void);
+
+ /**
+ * Read the payload
+ *
+ * Return the last payload received
+ *
+ * The size of data read is the fixed payload size, see getPayloadSize()
+ *
+ * @note I specifically chose 'void*' as a data type to make it easier
+ * for beginners to use. No casting needed.
+ *
+ * @param buf Pointer to a buffer where the data should be written
+ * @param len Maximum number of bytes to read into the buffer
+ * @return True if the payload was delivered successfully false if not
+ */
+ bool read( void* buf, uint8_t len );
+
+ /**
+ * Open a pipe for writing
+ *
+ * Only one pipe can be open at once, but you can change the pipe
+ * you'll listen to. Do not call this while actively listening.
+ * Remember to stopListening() first.
+ *
+ * Addresses are 40-bit hex values, e.g.:
+ *
+ * @code
+ * openWritingPipe(0xF0F0F0F0F0);
+ * @endcode
+ *
+ * @param address The 40-bit address of the pipe to open. This can be
+ * any value whatsoever, as long as you are the only one writing to it
+ * and only one other radio is listening to it. Coordinate these pipe
+ * addresses amongst nodes on the network.
+ */
+ void openWritingPipe(uint64_t address);
+
+ /**
+ * Open a pipe for reading
+ *
+ * Up to 6 pipes can be open for reading at once. Open all the
+ * reading pipes, and then call startListening().
+ *
+ * @see openWritingPipe
+ *
+ * @warning Pipes 1-5 should share the first 32 bits.
+ * Only the least significant byte should be unique, e.g.
+ * @code
+ * openReadingPipe(1,0xF0F0F0F0AA);
+ * openReadingPipe(2,0xF0F0F0F066);
+ * @endcode
+ *
+ * @warning Pipe 0 is also used by the writing pipe. So if you open
+ * pipe 0 for reading, and then startListening(), it will overwrite the
+ * writing pipe. Ergo, do an openWritingPipe() again before write().
+ *
+ * @todo Enforce the restriction that pipes 1-5 must share the top 32 bits
+ *
+ * @param number Which pipe# to open, 0-5.
+ * @param address The 40-bit address of the pipe to open.
+ */
+ void openReadingPipe(uint8_t number, uint64_t address);
+
+ /**@}*/
+ /**
+ * @name Optional Configurators
+ *
+ * Methods you can use to get or set the configuration of the chip.
+ * None are required. Calling begin() sets up a reasonable set of
+ * defaults.
+ */
+ /**@{*/
+ /**
+ * Set the number and delay of retries upon failed submit
+ *
+ * @param delay How long to wait between each retry, in multiples of 250us,
+ * max is 15. 0 means 250us, 15 means 4000us.
+ * @param count How many retries before giving up, max 15
+ */
+ void setRetries(uint8_t delay, uint8_t count);
+
+ /**
+ * Set RF communication channel
+ *
+ * @param channel Which RF channel to communicate on, 0-127
+ */
+ void setChannel(uint8_t channel);
+
+ /**
+ * Set Static Payload Size
+ *
+ * This implementation uses a pre-stablished fixed payload size for all
+ * transmissions. If this method is never called, the driver will always
+ * transmit the maximum payload size (32 bytes), no matter how much
+ * was sent to write().
+ *
+ * @todo Implement variable-sized payloads feature
+ *
+ * @param size The number of bytes in the payload
+ */
+ void setPayloadSize(uint8_t size);
+
+ /**
+ * Get Static Payload Size
+ *
+ * @see setPayloadSize()
+ *
+ * @return The number of bytes in the payload
+ */
+ uint8_t getPayloadSize(void);
+
+ /**
+ * Get Dynamic Payload Size
+ *
+ * For dynamic payloads, this pulls the size of the payload off
+ * the chip
+ *
+ * @return Payload length of last-received dynamic payload
+ */
+ uint8_t getDynamicPayloadSize(void);
+
+ /**
+ * Enable custom payloads on the acknowledge packets
+ *
+ * Ack payloads are a handy way to return data back to senders without
+ * manually changing the radio modes on both units.
+ *
+ * @see examples/pingpair_pl/pingpair_pl.pde
+ */
+ void enableAckPayload(void);
+
+ /**
+ * Enable dynamically-sized payloads
+ *
+ * This way you don't always have to send large packets just to send them
+ * once in a while. This enables dynamic payloads on ALL pipes.
+ *
+ * @see examples/pingpair_pl/pingpair_dyn.pde
+ */
+ void enableDynamicPayloads(void);
+
+ /**
+ * Determine whether the hardware is an nRF24L01+ or not.
+ *
+ * @return true if the hardware is nRF24L01+ (or compatible) and false
+ * if its not.
+ */
+ bool isPVariant(void) ;
+
+ /**
+ * Enable or disable auto-acknowlede packets
+ *
+ * This is enabled by default, so it's only needed if you want to turn
+ * it off for some reason.
+ *
+ * @param enable Whether to enable (true) or disable (false) auto-acks
+ */
+ void setAutoAck(bool enable);
+
+ /**
+ * Enable or disable auto-acknowlede packets on a per pipeline basis.
+ *
+ * AA is enabled by default, so it's only needed if you want to turn
+ * it off/on for some reason on a per pipeline basis.
+ *
+ * @param pipe Which pipeline to modify
+ * @param enable Whether to enable (true) or disable (false) auto-acks
+ */
+ void setAutoAck( uint8_t pipe, bool enable ) ;
+
+ /**
+ * Set Power Amplifier (PA) level to one of four levels.
+ * Relative mnemonics have been used to allow for future PA level
+ * changes. According to 6.5 of the nRF24L01+ specification sheet,
+ * they translate to: RF24_PA_MIN=-18dBm, RF24_PA_LOW=-12dBm,
+ * RF24_PA_MED=-6dBM, and RF24_PA_HIGH=0dBm.
+ *
+ * @param level Desired PA level.
+ */
+ void setPALevel( rf24_pa_dbm_e level ) ;
+
+ /**
+ * Fetches the current PA level.
+ *
+ * @return Returns a value from the rf24_pa_dbm_e enum describing
+ * the current PA setting. Please remember, all values represented
+ * by the enum mnemonics are negative dBm. See setPALevel for
+ * return value descriptions.
+ */
+ rf24_pa_dbm_e getPALevel( void ) ;
+
+ /**
+ * Set the transmission data rate
+ *
+ * @warning setting RF24_250KBPS will fail for non-plus units
+ *
+ * @param speed RF24_250KBPS for 250kbs, RF24_1MBPS for 1Mbps, or RF24_2MBPS for 2Mbps
+ * @return true if the change was successful
+ */
+ bool setDataRate(rf24_datarate_e speed);
+
+ /**
+ * Fetches the transmission data rate
+ *
+ * @return Returns the hardware's currently configured datarate. The value
+ * is one of 250kbs, RF24_1MBPS for 1Mbps, or RF24_2MBPS, as defined in the
+ * rf24_datarate_e enum.
+ */
+ rf24_datarate_e getDataRate( void ) ;
+
+ /**
+ * Set the CRC length
+ *
+ * @param length RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
+ */
+ void setCRCLength(rf24_crclength_e length);
+
+ /**
+ * Get the CRC length
+ *
+ * @return RF24_DISABLED if disabled or RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
+ */
+ rf24_crclength_e getCRCLength(void);
+
+ /**
+ * Disable CRC validation
+ *
+ */
+ void disableCRC( void ) ;
+
+ /**@}*/
+ /**
+ * @name Advanced Operation
+ *
+ * Methods you can use to drive the chip in more advanced ways
+ */
+ /**@{*/
+
+ /**
+ * Print a giant block of debugging information to stdout
+ *
+ * @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
+ */
+ void printDetails(void);
+
+ /**
+ * Enter low-power mode
+ *
+ * To return to normal power mode, either write() some data or
+ * startListening, or powerUp().
+ */
+ void powerDown(void);
+
+ /**
+ * Leave low-power mode - making radio more responsive
+ *
+ * To return to low power mode, call powerDown().
+ */
+ void powerUp(void) ;
+
+ /**
+ * Test whether there are bytes available to be read
+ *
+ * Use this version to discover on which pipe the message
+ * arrived.
+ *
+ * @param[out] pipe_num Which pipe has the payload available
+ * @return True if there is a payload available, false if none is
+ */
+ bool available(uint8_t* pipe_num);
+
+ /**
+ * Non-blocking write to the open writing pipe
+ *
+ * Just like write(), but it returns immediately. To find out what happened
+ * to the send, catch the IRQ and then call whatHappened().
+ *
+ * @see write()
+ * @see whatHappened()
+ *
+ * @param buf Pointer to the data to be sent
+ * @param len Number of bytes to be sent
+ * @return True if the payload was delivered successfully false if not
+ */
+ void startWrite( const void* buf, uint8_t len );
+
+ /**
+ * Write an ack payload for the specified pipe
+ *
+ * The next time a message is received on @p pipe, the data in @p buf will
+ * be sent back in the acknowledgement.
+ *
+ * @warning According to the data sheet, only three of these can be pending
+ * at any time. I have not tested this.
+ *
+ * @param pipe Which pipe# (typically 1-5) will get this response.
+ * @param buf Pointer to data that is sent
+ * @param len Length of the data to send, up to 32 bytes max. Not affected
+ * by the static payload set by setPayloadSize().
+ */
+ void writeAckPayload(uint8_t pipe, const void* buf, uint8_t len);
+
+ /**
+ * Determine if an ack payload was received in the most recent call to
+ * write().
+ *
+ * Call read() to retrieve the ack payload.
+ *
+ * @warning Calling this function clears the internal flag which indicates
+ * a payload is available. If it returns true, you must read the packet
+ * out as the very next interaction with the radio, or the results are
+ * undefined.
+ *
+ * @return True if an ack payload is available.
+ */
+ bool isAckPayloadAvailable(void);
+
+ /**
+ * Call this when you get an interrupt to find out why
+ *
+ * Tells you what caused the interrupt, and clears the state of
+ * interrupts.
+ *
+ * @param[out] tx_ok The send was successful (TX_DS)
+ * @param[out] tx_fail The send failed, too many retries (MAX_RT)
+ * @param[out] rx_ready There is a message waiting to be read (RX_DS)
+ */
+ void whatHappened(bool& tx_ok,bool& tx_fail,bool& rx_ready);
+
+ /**
+ * Test whether there was a carrier on the line for the
+ * previous listening period.
+ *
+ * Useful to check for interference on the current channel.
+ *
+ * @return true if was carrier, false if not
+ */
+ bool testCarrier(void);
+
+ /**
+ * Test whether a signal (carrier or otherwise) greater than
+ * or equal to -64dBm is present on the channel. Valid only
+ * on nRF24L01P (+) hardware. On nRF24L01, use testCarrier().
+ *
+ * Useful to check for interference on the current channel and
+ * channel hopping strategies.
+ *
+ * @return true if signal => -64dBm, false if not
+ */
+ bool testRPD(void) ;
+
+ uint8_t min(uint8_t, uint8_t);
+};
+
+
+#endif // __RF24_H__
+// vim:ai:cin:sts=2 sw=2 ft=cpp