Shuto Naruse / Mbed 2 deprecated Eurobot2012_Secondary

Eurobot2012_Secondary

Fork of Eurobot_2012_Secondary by Shuto Naruse

Eurobot_shared/Kalman/Sonar/RF12B/RF12B.cpp@1:cc2a9eb0bd55, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:25:31 2012 +0000
Revision:
1:cc2a9eb0bd55
Commit before publishing

Who changed what in which revision?

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narshu 1:cc2a9eb0bd55 1 #include "RF12B.h"
narshu 1:cc2a9eb0bd55 2
narshu 1:cc2a9eb0bd55 3 #include "RF_defs.h"
narshu 1:cc2a9eb0bd55 4 #include <algorithm>
narshu 1:cc2a9eb0bd55 5 #include "system.h"
narshu 1:cc2a9eb0bd55 6 #include "globals.h"
narshu 1:cc2a9eb0bd55 7
narshu 1:cc2a9eb0bd55 8
narshu 1:cc2a9eb0bd55 9 RF12B::RF12B(PinName _SDI,
narshu 1:cc2a9eb0bd55 10 PinName _SDO,
narshu 1:cc2a9eb0bd55 11 PinName _SCK,
narshu 1:cc2a9eb0bd55 12 PinName _NCS,
narshu 1:cc2a9eb0bd55 13 PinName _NIRQ):spi(_SDI, _SDO, _SCK),
narshu 1:cc2a9eb0bd55 14 NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ) {// rfled(LED3) {
narshu 1:cc2a9eb0bd55 15
narshu 1:cc2a9eb0bd55 16 // SPI frequency, word lenght, polarity and phase */
narshu 1:cc2a9eb0bd55 17 spi.format(16,0);
narshu 1:cc2a9eb0bd55 18 spi.frequency(2000000);
narshu 1:cc2a9eb0bd55 19
narshu 1:cc2a9eb0bd55 20 // Set ~CS high
narshu 1:cc2a9eb0bd55 21 NCS = 1;
narshu 1:cc2a9eb0bd55 22
narshu 1:cc2a9eb0bd55 23 // Initialise RF Module
narshu 1:cc2a9eb0bd55 24 init();
narshu 1:cc2a9eb0bd55 25
narshu 1:cc2a9eb0bd55 26 // Setup interrupt to happen on falling edge of NIRQ
narshu 1:cc2a9eb0bd55 27 NIRQ.fall(this, &RF12B::rxISR);
narshu 1:cc2a9eb0bd55 28 }
narshu 1:cc2a9eb0bd55 29
narshu 1:cc2a9eb0bd55 30 // Returns the packet length if data is available in the receive buffer, 0 otherwise
narshu 1:cc2a9eb0bd55 31 //unsigned int RF12B::available() {
narshu 1:cc2a9eb0bd55 32 // return fifo.size();
narshu 1:cc2a9eb0bd55 33 //}
narshu 1:cc2a9eb0bd55 34
narshu 1:cc2a9eb0bd55 35 // Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets
narshu 1:cc2a9eb0bd55 36 /*bool RF12B::read(unsigned char* data, unsigned int size) {
narshu 1:cc2a9eb0bd55 37 if (fifo.size() == 0) {
narshu 1:cc2a9eb0bd55 38 return false;
narshu 1:cc2a9eb0bd55 39 } else {
narshu 1:cc2a9eb0bd55 40 unsigned int i = 0;
narshu 1:cc2a9eb0bd55 41 while (fifo.size() > 0 && i < size) {
narshu 1:cc2a9eb0bd55 42 data[i++] = fifo.front();
narshu 1:cc2a9eb0bd55 43 fifo.pop();
narshu 1:cc2a9eb0bd55 44 }
narshu 1:cc2a9eb0bd55 45 return true;
narshu 1:cc2a9eb0bd55 46 }
narshu 1:cc2a9eb0bd55 47 }
narshu 1:cc2a9eb0bd55 48 */
narshu 1:cc2a9eb0bd55 49
narshu 1:cc2a9eb0bd55 50 // Reads a byte of data from the receive buffer
narshu 1:cc2a9eb0bd55 51 /*
narshu 1:cc2a9eb0bd55 52 unsigned char RF12B::read() {
narshu 1:cc2a9eb0bd55 53 if (available()) {
narshu 1:cc2a9eb0bd55 54 unsigned char data = fifo.front();
narshu 1:cc2a9eb0bd55 55 fifo.pop();
narshu 1:cc2a9eb0bd55 56 return data;
narshu 1:cc2a9eb0bd55 57 } else {
narshu 1:cc2a9eb0bd55 58 return 0xFF; // Error val although could also be data...
narshu 1:cc2a9eb0bd55 59 }
narshu 1:cc2a9eb0bd55 60 }
narshu 1:cc2a9eb0bd55 61 */
narshu 1:cc2a9eb0bd55 62
narshu 1:cc2a9eb0bd55 63 // Sends a packet of data to the RF module for transmission TODO: Make asych
narshu 1:cc2a9eb0bd55 64 void RF12B::write(unsigned char *data, unsigned char length) {
narshu 1:cc2a9eb0bd55 65 unsigned char crc = 0;
narshu 1:cc2a9eb0bd55 66
narshu 1:cc2a9eb0bd55 67 // Transmitter mode
narshu 1:cc2a9eb0bd55 68 changeMode(TX);
narshu 1:cc2a9eb0bd55 69
narshu 1:cc2a9eb0bd55 70 writeCmd(0x0000);
narshu 1:cc2a9eb0bd55 71 send(0xAA); // PREAMBLE
narshu 1:cc2a9eb0bd55 72 send(0xAA);
narshu 1:cc2a9eb0bd55 73 send(0xAA);
narshu 1:cc2a9eb0bd55 74 send(0x2D); // SYNC
narshu 1:cc2a9eb0bd55 75 send(0xD4);
narshu 1:cc2a9eb0bd55 76 // Packet Length
narshu 1:cc2a9eb0bd55 77 send(length);
narshu 1:cc2a9eb0bd55 78 crc = crc8(crc, length);
narshu 1:cc2a9eb0bd55 79 send(crc);
narshu 1:cc2a9eb0bd55 80 crc = crc8(crc, crc);
narshu 1:cc2a9eb0bd55 81 // Packet Data
narshu 1:cc2a9eb0bd55 82 for (unsigned char i=0; i<length; i++) {
narshu 1:cc2a9eb0bd55 83 send(data[i]);
narshu 1:cc2a9eb0bd55 84 crc = crc8(crc, data[i]);
narshu 1:cc2a9eb0bd55 85 }
narshu 1:cc2a9eb0bd55 86 send(crc);
narshu 1:cc2a9eb0bd55 87 send(0xAA); // DUMMY BYTES
narshu 1:cc2a9eb0bd55 88 send(0xAA);
narshu 1:cc2a9eb0bd55 89 send(0xAA);
narshu 1:cc2a9eb0bd55 90
narshu 1:cc2a9eb0bd55 91 // Back to receiver mode
narshu 1:cc2a9eb0bd55 92 changeMode(RX);
narshu 1:cc2a9eb0bd55 93 status();
narshu 1:cc2a9eb0bd55 94
narshu 1:cc2a9eb0bd55 95
narshu 1:cc2a9eb0bd55 96 }
narshu 1:cc2a9eb0bd55 97
narshu 1:cc2a9eb0bd55 98 // Transmit a 1-byte data packet
narshu 1:cc2a9eb0bd55 99 void RF12B::write(unsigned char data) {
narshu 1:cc2a9eb0bd55 100 write(&data, 1);
narshu 1:cc2a9eb0bd55 101 }
narshu 1:cc2a9eb0bd55 102 /*
narshu 1:cc2a9eb0bd55 103 void RF12B::write(queue<char> &data, int length) {
narshu 1:cc2a9eb0bd55 104 char crc = 0;
narshu 1:cc2a9eb0bd55 105 char length_byte = 0;
narshu 1:cc2a9eb0bd55 106
narshu 1:cc2a9eb0bd55 107 // -1 means try to transmit everything in the queue
narshu 1:cc2a9eb0bd55 108 if (length == -1) {
narshu 1:cc2a9eb0bd55 109 length = data.size();
narshu 1:cc2a9eb0bd55 110 }
narshu 1:cc2a9eb0bd55 111
narshu 1:cc2a9eb0bd55 112 // max length of packet is 255
narshu 1:cc2a9eb0bd55 113 length_byte = min(length, 255);
narshu 1:cc2a9eb0bd55 114
narshu 1:cc2a9eb0bd55 115 // Transmitter mode
narshu 1:cc2a9eb0bd55 116 changeMode(TX);
narshu 1:cc2a9eb0bd55 117
narshu 1:cc2a9eb0bd55 118 writeCmd(0x0000);
narshu 1:cc2a9eb0bd55 119 send(0xAA); // PREAMBLE
narshu 1:cc2a9eb0bd55 120 send(0xAA);
narshu 1:cc2a9eb0bd55 121 send(0xAA);
narshu 1:cc2a9eb0bd55 122 send(0x2D); // SYNC
narshu 1:cc2a9eb0bd55 123 send(0xD4);
narshu 1:cc2a9eb0bd55 124 // Packet Length
narshu 1:cc2a9eb0bd55 125 send(length_byte);
narshu 1:cc2a9eb0bd55 126 crc = crc8(crc, length_byte);
narshu 1:cc2a9eb0bd55 127 send(crc);
narshu 1:cc2a9eb0bd55 128 crc = crc8(crc, crc);
narshu 1:cc2a9eb0bd55 129 // Packet Data
narshu 1:cc2a9eb0bd55 130 for (char i=0; i<length_byte; i++) {
narshu 1:cc2a9eb0bd55 131 send(data.front());
narshu 1:cc2a9eb0bd55 132 crc = crc8(crc, data.front());
narshu 1:cc2a9eb0bd55 133 data.pop();
narshu 1:cc2a9eb0bd55 134 }
narshu 1:cc2a9eb0bd55 135 send(crc);
narshu 1:cc2a9eb0bd55 136 send(0xAA); // DUMMY BYTES
narshu 1:cc2a9eb0bd55 137 send(0xAA);
narshu 1:cc2a9eb0bd55 138 send(0xAA);
narshu 1:cc2a9eb0bd55 139
narshu 1:cc2a9eb0bd55 140 // Back to receiver mode
narshu 1:cc2a9eb0bd55 141 changeMode(RX);
narshu 1:cc2a9eb0bd55 142 status();
narshu 1:cc2a9eb0bd55 143 }
narshu 1:cc2a9eb0bd55 144 */
narshu 1:cc2a9eb0bd55 145 /**********************************************************************
narshu 1:cc2a9eb0bd55 146 * PRIVATE FUNCTIONS
narshu 1:cc2a9eb0bd55 147 *********************************************************************/
narshu 1:cc2a9eb0bd55 148
narshu 1:cc2a9eb0bd55 149 // Initialises the RF12B module
narshu 1:cc2a9eb0bd55 150 void RF12B::init() {
narshu 1:cc2a9eb0bd55 151 // writeCmd(0x80E7); //EL,EF,868band,12.0pF
narshu 1:cc2a9eb0bd55 152 changeMode(RX);
narshu 1:cc2a9eb0bd55 153 writeCmd(0xA640); //frequency select
narshu 1:cc2a9eb0bd55 154 writeCmd(0xC647); //4.8kbps
narshu 1:cc2a9eb0bd55 155 writeCmd(0x94A0); //VDI,FAST,134kHz,0dBm,-103dBm
narshu 1:cc2a9eb0bd55 156 writeCmd(0xC2AC); //AL,!ml,DIG,DQD4
narshu 1:cc2a9eb0bd55 157 writeCmd(0xCA81); //FIFO8,SYNC,!ff,DR
narshu 1:cc2a9eb0bd55 158 writeCmd(0xCED4); //SYNC=2DD4
narshu 1:cc2a9eb0bd55 159 writeCmd(0xC483); //@PWR,NO RSTRIC,!st,!fi,OE,EN
narshu 1:cc2a9eb0bd55 160 writeCmd(0x9850); //!mp,90kHz,MAX OUT
narshu 1:cc2a9eb0bd55 161 writeCmd(0xCC17); //OB1, COB0, LPX, Iddy, CDDIT&#65533;CBW0
narshu 1:cc2a9eb0bd55 162 writeCmd(0xE000); //NOT USED
narshu 1:cc2a9eb0bd55 163 writeCmd(0xC800); //NOT USED
narshu 1:cc2a9eb0bd55 164 writeCmd(0xC040); //1.66MHz,2.2V
narshu 1:cc2a9eb0bd55 165
narshu 1:cc2a9eb0bd55 166 writeCmd(
narshu 1:cc2a9eb0bd55 167 RFM_CONFIG_EL |
narshu 1:cc2a9eb0bd55 168 RFM_CONFIG_EF |
narshu 1:cc2a9eb0bd55 169 RFM_CONFIG_BAND_433 //|
narshu 1:cc2a9eb0bd55 170 //RFM_CONFIG_X_11_0pf // meh, using default
narshu 1:cc2a9eb0bd55 171 );
narshu 1:cc2a9eb0bd55 172
narshu 1:cc2a9eb0bd55 173 // 2. Power Management Command
narshu 1:cc2a9eb0bd55 174 // leave everything switched off for now
narshu 1:cc2a9eb0bd55 175 /*
narshu 1:cc2a9eb0bd55 176 writeCmd(
narshu 1:cc2a9eb0bd55 177 RFM_POWER_MANAGEMENT // switch all off
narshu 1:cc2a9eb0bd55 178 );
narshu 1:cc2a9eb0bd55 179 */
narshu 1:cc2a9eb0bd55 180
narshu 1:cc2a9eb0bd55 181 // 3. Frequency Setting Command
narshu 1:cc2a9eb0bd55 182 writeCmd(
narshu 1:cc2a9eb0bd55 183 RFM_FREQUENCY |
narshu 1:cc2a9eb0bd55 184 RFM_FREQ_433Band(435.7) //I totally made this value up... if someone knows where the sweetspots are in this band, tell me!
narshu 1:cc2a9eb0bd55 185 );
narshu 1:cc2a9eb0bd55 186
narshu 1:cc2a9eb0bd55 187
narshu 1:cc2a9eb0bd55 188 // 4. Data Rate Command
narshu 1:cc2a9eb0bd55 189 //writeCmd(RFM_DATA_RATE_9600);
narshu 1:cc2a9eb0bd55 190 writeCmd(RFM_DATA_RATE_57600);
narshu 1:cc2a9eb0bd55 191
narshu 1:cc2a9eb0bd55 192
narshu 1:cc2a9eb0bd55 193 // 5. Receiver Control Command
narshu 1:cc2a9eb0bd55 194 writeCmd(
narshu 1:cc2a9eb0bd55 195 RFM_RX_CONTROL_P20_VDI |
narshu 1:cc2a9eb0bd55 196 RFM_RX_CONTROL_VDI_FAST |
narshu 1:cc2a9eb0bd55 197 //RFM_RX_CONTROL_BW(RFM_BAUD_RATE) |
narshu 1:cc2a9eb0bd55 198 RFM_RX_CONTROL_BW_134 | // CHANGE THIS TO 67 TO IMPROVE RANGE! (though the bitrate must then be below 8kbaud, and fsk modulation changed)
narshu 1:cc2a9eb0bd55 199 RFM_RX_CONTROL_GAIN_0 |
narshu 1:cc2a9eb0bd55 200 RFM_RX_CONTROL_RSSI_103 // Might need adjustment. Datasheet says around 10^-5 bit error rate at this level and baudrate.
narshu 1:cc2a9eb0bd55 201 );
narshu 1:cc2a9eb0bd55 202
narshu 1:cc2a9eb0bd55 203 // 6. Data Filter Command
narshu 1:cc2a9eb0bd55 204 writeCmd(
narshu 1:cc2a9eb0bd55 205 RFM_DATA_FILTER_AL |
narshu 1:cc2a9eb0bd55 206 RFM_DATA_FILTER_ML |
narshu 1:cc2a9eb0bd55 207 RFM_DATA_FILTER_DIG //|
narshu 1:cc2a9eb0bd55 208 //RFM_DATA_FILTER_DQD(4)
narshu 1:cc2a9eb0bd55 209 );
narshu 1:cc2a9eb0bd55 210
narshu 1:cc2a9eb0bd55 211 // 7. FIFO and Reset Mode Command
narshu 1:cc2a9eb0bd55 212 writeCmd(
narshu 1:cc2a9eb0bd55 213 RFM_FIFO_IT(8) |
narshu 1:cc2a9eb0bd55 214 RFM_FIFO_DR |
narshu 1:cc2a9eb0bd55 215 0x8 //turn on 16bit sync word
narshu 1:cc2a9eb0bd55 216 );
narshu 1:cc2a9eb0bd55 217
narshu 1:cc2a9eb0bd55 218 // 8. FIFO Syncword
narshu 1:cc2a9eb0bd55 219 // Leave as default: 0xD4
narshu 1:cc2a9eb0bd55 220
narshu 1:cc2a9eb0bd55 221 // 9. Receiver FIFO Read
narshu 1:cc2a9eb0bd55 222 // when the interupt goes high, (and if we can assume that it was a fifo fill interrupt) we can read a byte using:
narshu 1:cc2a9eb0bd55 223 // result = RFM_READ_FIFO();
narshu 1:cc2a9eb0bd55 224
narshu 1:cc2a9eb0bd55 225 // 10. AFC Command
narshu 1:cc2a9eb0bd55 226 writeCmd(
narshu 1:cc2a9eb0bd55 227 //RFM_AFC_AUTO_VDI | //Note this might be changed to improve range. Refer to datasheet.
narshu 1:cc2a9eb0bd55 228 RFM_AFC_AUTO_INDEPENDENT |
narshu 1:cc2a9eb0bd55 229 RFM_AFC_RANGE_LIMIT_7_8 |
narshu 1:cc2a9eb0bd55 230 RFM_AFC_EN |
narshu 1:cc2a9eb0bd55 231 RFM_AFC_OE |
narshu 1:cc2a9eb0bd55 232 RFM_AFC_FI
narshu 1:cc2a9eb0bd55 233 );
narshu 1:cc2a9eb0bd55 234
narshu 1:cc2a9eb0bd55 235 // 11. TX Configuration Control Command
narshu 1:cc2a9eb0bd55 236 writeCmd(
narshu 1:cc2a9eb0bd55 237 RFM_TX_CONTROL_MOD_60 |
narshu 1:cc2a9eb0bd55 238 RFM_TX_CONTROL_POW_0
narshu 1:cc2a9eb0bd55 239 );
narshu 1:cc2a9eb0bd55 240
narshu 1:cc2a9eb0bd55 241
narshu 1:cc2a9eb0bd55 242 // 12. PLL Setting Command
narshu 1:cc2a9eb0bd55 243 writeCmd(
narshu 1:cc2a9eb0bd55 244 0xCC77 & ~0x01 // Setting the PLL bandwith, less noise, but max bitrate capped at 86.2
narshu 1:cc2a9eb0bd55 245 // I think this will slow down the pll's reaction time. Not sure, check with someone!
narshu 1:cc2a9eb0bd55 246 );
narshu 1:cc2a9eb0bd55 247
narshu 1:cc2a9eb0bd55 248 changeMode(RX);
narshu 1:cc2a9eb0bd55 249 resetRX();
narshu 1:cc2a9eb0bd55 250 status();
narshu 1:cc2a9eb0bd55 251 }
narshu 1:cc2a9eb0bd55 252
narshu 1:cc2a9eb0bd55 253 /* Write a command to the RF Module */
narshu 1:cc2a9eb0bd55 254 unsigned int RF12B::writeCmd(unsigned int cmd) {
narshu 1:cc2a9eb0bd55 255 NCS = 0;
narshu 1:cc2a9eb0bd55 256 unsigned int recv = spi.write(cmd);
narshu 1:cc2a9eb0bd55 257 NCS = 1;
narshu 1:cc2a9eb0bd55 258 return recv;
narshu 1:cc2a9eb0bd55 259 }
narshu 1:cc2a9eb0bd55 260
narshu 1:cc2a9eb0bd55 261 /* Sends a byte of data across RF */
narshu 1:cc2a9eb0bd55 262 void RF12B::send(unsigned char data) {
narshu 1:cc2a9eb0bd55 263 while (NIRQ);
narshu 1:cc2a9eb0bd55 264 writeCmd(0xB800 + data);
narshu 1:cc2a9eb0bd55 265 }
narshu 1:cc2a9eb0bd55 266
narshu 1:cc2a9eb0bd55 267 /* Change the mode of the RF module to Transmitting or Receiving */
narshu 1:cc2a9eb0bd55 268 void RF12B::changeMode(rfmode_t _mode) {
narshu 1:cc2a9eb0bd55 269 mode = _mode;
narshu 1:cc2a9eb0bd55 270 if (_mode == TX) {
narshu 1:cc2a9eb0bd55 271 writeCmd(0x8239); //!er,!ebb,ET,ES,EX,!eb,!ew,DC
narshu 1:cc2a9eb0bd55 272 } else { /* mode == RX */
narshu 1:cc2a9eb0bd55 273 writeCmd(0x8299); //er,!ebb,ET,ES,EX,!eb,!ew,DC
narshu 1:cc2a9eb0bd55 274 }
narshu 1:cc2a9eb0bd55 275 }
narshu 1:cc2a9eb0bd55 276
narshu 1:cc2a9eb0bd55 277 // Interrupt routine for data reception */
narshu 1:cc2a9eb0bd55 278 void RF12B::rxISR() {
narshu 1:cc2a9eb0bd55 279
narshu 1:cc2a9eb0bd55 280 unsigned int data = 0;
narshu 1:cc2a9eb0bd55 281 static int i = -2;
narshu 1:cc2a9eb0bd55 282 static unsigned char packet_length = 0;
narshu 1:cc2a9eb0bd55 283 static unsigned char crc = 0;
narshu 1:cc2a9eb0bd55 284 // #ifdef ROBOT_SECONDARY
narshu 1:cc2a9eb0bd55 285 static unsigned char temp;
narshu 1:cc2a9eb0bd55 286 // #endif
narshu 1:cc2a9eb0bd55 287
narshu 1:cc2a9eb0bd55 288 //Loop while interrupt is asserted
narshu 1:cc2a9eb0bd55 289 while (!NIRQ_in && mode == RX) {
narshu 1:cc2a9eb0bd55 290
narshu 1:cc2a9eb0bd55 291 // Grab the packet's length byte
narshu 1:cc2a9eb0bd55 292 if (i == -2) {
narshu 1:cc2a9eb0bd55 293 data = writeCmd(0x0000);
narshu 1:cc2a9eb0bd55 294 if ( (data&0x8000) ) {
narshu 1:cc2a9eb0bd55 295 data = writeCmd(0xB000);
narshu 1:cc2a9eb0bd55 296 packet_length = (data&0x00FF);
narshu 1:cc2a9eb0bd55 297 crc = crc8(crc, packet_length);
narshu 1:cc2a9eb0bd55 298 i++;
narshu 1:cc2a9eb0bd55 299 }
narshu 1:cc2a9eb0bd55 300 }
narshu 1:cc2a9eb0bd55 301
narshu 1:cc2a9eb0bd55 302 //If we exhaust the interrupt, exit
narshu 1:cc2a9eb0bd55 303 if (NIRQ_in)
narshu 1:cc2a9eb0bd55 304 break;
narshu 1:cc2a9eb0bd55 305
narshu 1:cc2a9eb0bd55 306 // Check that packet length was correct
narshu 1:cc2a9eb0bd55 307 if (i == -1) {
narshu 1:cc2a9eb0bd55 308 data = writeCmd(0x0000);
narshu 1:cc2a9eb0bd55 309 if ( (data&0x8000) ) {
narshu 1:cc2a9eb0bd55 310 data = writeCmd(0xB000);
narshu 1:cc2a9eb0bd55 311 unsigned char crcofsize = (data&0x00FF);
narshu 1:cc2a9eb0bd55 312 if (crcofsize != crc) {
narshu 1:cc2a9eb0bd55 313 //It was wrong, start over
narshu 1:cc2a9eb0bd55 314 i = -2;
narshu 1:cc2a9eb0bd55 315 packet_length = 0;
narshu 1:cc2a9eb0bd55 316 crc = 0;
narshu 1:cc2a9eb0bd55 317 //temp = queue<unsigned char>();
narshu 1:cc2a9eb0bd55 318 resetRX();
narshu 1:cc2a9eb0bd55 319 } else {
narshu 1:cc2a9eb0bd55 320 crc = crc8(crc, crcofsize);
narshu 1:cc2a9eb0bd55 321 i++;
narshu 1:cc2a9eb0bd55 322 }
narshu 1:cc2a9eb0bd55 323 }
narshu 1:cc2a9eb0bd55 324 }
narshu 1:cc2a9eb0bd55 325
narshu 1:cc2a9eb0bd55 326 //If we exhaust the interrupt, exit
narshu 1:cc2a9eb0bd55 327 if (NIRQ_in)
narshu 1:cc2a9eb0bd55 328 break;
narshu 1:cc2a9eb0bd55 329
narshu 1:cc2a9eb0bd55 330 // Grab the packet's data
narshu 1:cc2a9eb0bd55 331 if (i >= 0 && i < packet_length) {
narshu 1:cc2a9eb0bd55 332 data = writeCmd(0x0000);
narshu 1:cc2a9eb0bd55 333 if ( (data&0x8000) ) {
narshu 1:cc2a9eb0bd55 334 data = writeCmd(0xB000);
narshu 1:cc2a9eb0bd55 335 // #ifdef ROBOT_SECONDARY
narshu 1:cc2a9eb0bd55 336 temp = data&0x00FF;
narshu 1:cc2a9eb0bd55 337 // #endif
narshu 1:cc2a9eb0bd55 338 //temp.push(data&0x00FF);
narshu 1:cc2a9eb0bd55 339 crc = crc8(crc, (unsigned char)(data&0x00FF));
narshu 1:cc2a9eb0bd55 340 i++;
narshu 1:cc2a9eb0bd55 341 }
narshu 1:cc2a9eb0bd55 342 }
narshu 1:cc2a9eb0bd55 343
narshu 1:cc2a9eb0bd55 344 //If we exhaust the interrupt, exit
narshu 1:cc2a9eb0bd55 345 if (NIRQ_in)
narshu 1:cc2a9eb0bd55 346 break;
narshu 1:cc2a9eb0bd55 347
narshu 1:cc2a9eb0bd55 348 if (i >= packet_length) {
narshu 1:cc2a9eb0bd55 349 data = writeCmd(0x0000);
narshu 1:cc2a9eb0bd55 350 if ( (data&0x8000) ) {
narshu 1:cc2a9eb0bd55 351 data = writeCmd(0xB000);
narshu 1:cc2a9eb0bd55 352 if ((unsigned char)(data & 0x00FF) == crc) {
narshu 1:cc2a9eb0bd55 353 //If the checksum is correct, add our data to the end of the output buffer
narshu 1:cc2a9eb0bd55 354 //while (!temp.empty()) {
narshu 1:cc2a9eb0bd55 355 //fifo.push(temp);
narshu 1:cc2a9eb0bd55 356 // temp.pop();
narshu 1:cc2a9eb0bd55 357 //#ifdef ROBOT_SECONDARY
narshu 1:cc2a9eb0bd55 358 if (callbackfunc)
narshu 1:cc2a9eb0bd55 359 (*callbackfunc)(temp);
narshu 1:cc2a9eb0bd55 360
narshu 1:cc2a9eb0bd55 361 if (callbackobj && mcallbackfunc)
narshu 1:cc2a9eb0bd55 362 (callbackobj->*mcallbackfunc)(temp);
narshu 1:cc2a9eb0bd55 363 //#endif
narshu 1:cc2a9eb0bd55 364 // }
narshu 1:cc2a9eb0bd55 365 }
narshu 1:cc2a9eb0bd55 366
narshu 1:cc2a9eb0bd55 367 // Tell RF Module we are finished, and clean up
narshu 1:cc2a9eb0bd55 368 i = -2;
narshu 1:cc2a9eb0bd55 369 packet_length = 0;
narshu 1:cc2a9eb0bd55 370 crc = 0;
narshu 1:cc2a9eb0bd55 371 //temp = queue<unsigned char>();
narshu 1:cc2a9eb0bd55 372 resetRX();
narshu 1:cc2a9eb0bd55 373 }
narshu 1:cc2a9eb0bd55 374 }
narshu 1:cc2a9eb0bd55 375 }
narshu 1:cc2a9eb0bd55 376
narshu 1:cc2a9eb0bd55 377 }
narshu 1:cc2a9eb0bd55 378
narshu 1:cc2a9eb0bd55 379 unsigned int RF12B::status() {
narshu 1:cc2a9eb0bd55 380 return writeCmd(0x0000);
narshu 1:cc2a9eb0bd55 381 }
narshu 1:cc2a9eb0bd55 382
narshu 1:cc2a9eb0bd55 383 // Tell the RF Module this packet is received and wait for the next */
narshu 1:cc2a9eb0bd55 384 void RF12B::resetRX() {
narshu 1:cc2a9eb0bd55 385 writeCmd(0xCA81);
narshu 1:cc2a9eb0bd55 386 writeCmd(0xCA83);
narshu 1:cc2a9eb0bd55 387 };
narshu 1:cc2a9eb0bd55 388
narshu 1:cc2a9eb0bd55 389 // Calculate CRC8 */
narshu 1:cc2a9eb0bd55 390 unsigned char RF12B::crc8(unsigned char crc, unsigned char data) {
narshu 1:cc2a9eb0bd55 391 crc = crc ^ data;
narshu 1:cc2a9eb0bd55 392 for (int i = 0; i < 8; i++) {
narshu 1:cc2a9eb0bd55 393 if (crc & 0x01) {
narshu 1:cc2a9eb0bd55 394 crc = (crc >> 1) ^ 0x8C;
narshu 1:cc2a9eb0bd55 395 } else {
narshu 1:cc2a9eb0bd55 396 crc >>= 1;
narshu 1:cc2a9eb0bd55 397 }
narshu 1:cc2a9eb0bd55 398 }
narshu 1:cc2a9eb0bd55 399 return crc;
narshu 1:cc2a9eb0bd55 400 }