Polybot Grenoble
FinT
Dependencies: mbed RF24Network RF24
Revision 2:608cf8c5c55e, committed 2015-07-06
- Comitter:
- akashvibhute
- Date:
- Mon Jul 06 05:23:41 2015 +0000
- Parent:
- 1:5be48a9550c3
- Child:
- 3:e9c4d66da50c
- Commit message:
- Example RF24Network receive program. Tested on Nucleo 411
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF24.lib Mon Jul 06 05:23:41 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/akashvibhute/code/RF24/#00706a42491e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF24Network.lib Mon Jul 06 05:23:41 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/akashvibhute/code/RF24Network/#caf146ffe8b0
--- a/RF24Network/RF24Network.cpp Mon Jul 06 04:03:48 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,439 +0,0 @@
-/*
- 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
--- a/RF24Network/RF24Network.h Mon Jul 06 04:03:48 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,344 +0,0 @@
-/*
- 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
--- a/RF24Network/RF24Network_config.h Mon Jul 06 04:03:48 2015 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,23 +0,0 @@ - -/* - 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
--- a/RF24Network/Sync.cpp Mon Jul 06 04:03:48 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,93 +0,0 @@
-/*
- 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
--- a/RF24Network/Sync.h Mon Jul 06 04:03:48 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,85 +0,0 @@
-/*
- 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
--- a/main.cpp Mon Jul 06 04:03:48 2015 +0000
+++ b/main.cpp Mon Jul 06 05:23:41 2015 +0000
@@ -1,17 +1,15 @@
#include "mbed.h"
#include <RF24Network.h>
-#include <nRF24L01P_Maniacbug.h>
+#include <RF24.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
@@ -23,47 +21,41 @@
// Address of the other node
const uint16_t other_node = 0;
-// 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;
-Timer t;
// How many have we sent already
unsigned long packets_sent;
-Timer t_packet;
// Structure of our payload
-struct payload_t
+struct payload_t
{
- unsigned long ms;
- unsigned long counter;
-
- float vector_4d[4];
+ unsigned long ms;
+ unsigned long counter;
+
+ float vector_4d[4];
};
-int main()
+int main()
{
pc.baud(921600);
wait_ms(1000);
-
-
-
- pc.printf("mBed RF24 network node - Rx only\n");
+
+
+
+ pc.printf("mBed RF24Network node\n");
radio.begin();
network.begin(/*channel*/ 90, /*node address*/ this_node);
wait_ms(2000);
- t.start();
- t_packet.start();
- while(1)
+
+ while(1)
{
// Pump the network regularly
network.update();
-
+
// Is there anything ready for us?
- while ( network.available() )
+ while ( network.available() )
{
// If so, grab it and print it out
RF24NetworkHeader header_rx;
@@ -71,33 +63,7 @@
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]);
}
-
- /* If it's time to send a message, send it! */
- unsigned long now = t.read_ms();
- if ( now >= interval )
- {
- t.reset();
- pc.printf("Sending...");
- //payload_t payload_tx = { millis(), packets_sent++, "Hello from node 0" };
- payload_t payload_tx;
- payload_tx.ms = t_packet.read_ms();
- payload_tx.counter = packets_sent++;
- for(int i=0;i<=3;i++)
- {
- payload_tx.vector_4d[i] = i + 1.00f;
- }
-
-
- RF24NetworkHeader header_tx(/*to node*/ other_node);
- bool ok = network.write(header_tx,&payload_tx,sizeof(payload_tx));
- if (ok)
- pc.printf("ok.\n");
- else
- pc.printf("failed.\n");
- }
-
-
}
-
+
}
\ No newline at end of file
--- a/mbed-rtos.lib Mon Jul 06 04:03:48 2015 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/mbed_official/code/mbed-rtos/#58c3b7759abf
--- a/nRF24L01P_Maniacbug/nRF24L01P_Maniacbug.cpp Mon Jul 06 04:03:48 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1003 +0,0 @@
-/*
- 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;
-}
--- a/nRF24L01P_Maniacbug/nRF24L01P_Maniacbug.h Mon Jul 06 04:03:48 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,779 +0,0 @@
-/*
- 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