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FastclockRF/src/RF24/RF24.cpp

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/*
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 "nRF24L01.h"
#include "RF24_config.h"
#include "RF24.h"
/****************************************************************************/
void RF24::csn(bool mode)
{
#if defined (RF24_TINY)
if (ce_pin != csn_pin) {
digitalWrite(csn_pin,mode);
}
else {
if (mode == HIGH) {
PORTB |= (1<<PINB2); // SCK->CSN HIGH
delayMicroseconds(100); // allow csn to settle.
}
else {
PORTB &= ~(1<<PINB2); // SCK->CSN LOW
delayMicroseconds(11); // allow csn to settle
}
}
// Return, CSN toggle complete
return;
#elif defined(ARDUINO) && !defined (RF24_SPI_TRANSACTIONS)
// 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
#if !defined (SOFTSPI)
_SPI.setBitOrder(MSBFIRST);
_SPI.setDataMode(SPI_MODE0);
//_SPI.setClockDivider(SPI_CLOCK_DIV2);
#endif
#elif defined (RF24_RPi)
if(!mode)
_SPI.chipSelect(csn_pin);
#endif
#if !defined (RF24_LINUX)
digitalWrite(csn_pin,mode);
delayMicroseconds(csDelay);
#endif
}
/****************************************************************************/
void RF24::ce(bool level)
{
//Allow for 3-pin use on ATTiny
if (ce_pin != csn_pin) digitalWrite(ce_pin,level);
}
/****************************************************************************/
inline void RF24::beginTransaction() {
#if defined (RF24_SPI_TRANSACTIONS)
_SPI.beginTransaction(SPISettings(RF24_SPI_SPEED, MSBFIRST, SPI_MODE0));
#endif
csn(LOW);
}
/****************************************************************************/
inline void RF24::endTransaction() {
csn(HIGH);
#if defined (RF24_SPI_TRANSACTIONS)
_SPI.endTransaction();
#endif
}
/****************************************************************************/
uint8_t RF24::read_register(uint8_t reg, uint8_t* buf, uint8_t len)
{
uint8_t status;
#if defined (RF24_LINUX)
beginTransaction(); //configures the spi settings for RPi, locks mutex and setting csn low
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size = len + 1; // Add register value to transmit buffer
*ptx++ = ( R_REGISTER | ( REGISTER_MASK & reg ) );
while (len--){ *ptx++ = RF24_NOP; } // Dummy operation, just for reading
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx++; // status is 1st byte of receive buffer
// decrement before to skip status byte
while ( --size ){ *buf++ = *prx++; }
endTransaction(); //unlocks mutex and setting csn high
#else
beginTransaction();
status = _SPI.transfer( R_REGISTER | ( REGISTER_MASK & reg ) );
while ( len-- ){
*buf++ = _SPI.transfer(0xff);
}
endTransaction();
#endif
return status;
}
/****************************************************************************/
uint8_t RF24::read_register(uint8_t reg)
{
uint8_t result;
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
*ptx++ = ( R_REGISTER | ( REGISTER_MASK & reg ) );
*ptx++ = RF24_NOP ; // Dummy operation, just for reading
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, 2);
result = *++prx; // result is 2nd byte of receive buffer
endTransaction();
#else
beginTransaction();
_SPI.transfer( R_REGISTER | ( REGISTER_MASK & reg ) );
result = _SPI.transfer(0xff);
endTransaction();
#endif
return result;
}
/****************************************************************************/
uint8_t RF24::write_register(uint8_t reg, const uint8_t* buf, uint8_t len)
{
uint8_t status;
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size = len + 1; // Add register value to transmit buffer
*ptx++ = ( W_REGISTER | ( REGISTER_MASK & reg ) );
while ( len-- )
*ptx++ = *buf++;
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx; // status is 1st byte of receive buffer
endTransaction();
#else
beginTransaction();
status = _SPI.transfer( W_REGISTER | ( REGISTER_MASK & reg ) );
while ( len-- )
_SPI.transfer(*buf++);
endTransaction();
#endif
return status;
}
/****************************************************************************/
uint8_t RF24::write_register(uint8_t reg, uint8_t value)
{
uint8_t status;
IF_SERIAL_DEBUG(printf_P(PSTR("write_register(%02x,%02x)\r\n"),reg,value));
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
*ptx++ = ( W_REGISTER | ( REGISTER_MASK & reg ) );
*ptx = value ;
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, 2);
status = *prx++; // status is 1st byte of receive buffer
endTransaction();
#else
beginTransaction();
status = _SPI.transfer( W_REGISTER | ( REGISTER_MASK & reg ) );
_SPI.transfer(value);
endTransaction();
#endif
return status;
}
/****************************************************************************/
uint8_t RF24::write_payload(const void* buf, uint8_t data_len, const uint8_t writeType)
{
uint8_t status;
const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
data_len = rf24_min(data_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);
IF_SERIAL_DEBUG( printf("[Writing %u bytes %u blanks]\n",data_len,blank_len); );
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size;
size = data_len + blank_len + 1 ; // Add register value to transmit buffer
*ptx++ = writeType;
while ( data_len-- )
*ptx++ = *current++;
while ( blank_len-- )
*ptx++ = 0;
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx; // status is 1st byte of receive buffer
endTransaction();
#else
beginTransaction();
status = _SPI.transfer( writeType );
while ( data_len-- ) {
_SPI.transfer(*current++);
}
while ( blank_len-- ) {
_SPI.transfer(0);
}
endTransaction();
#endif
return status;
}
/****************************************************************************/
uint8_t RF24::read_payload(void* buf, uint8_t data_len)
{
uint8_t status;
uint8_t* current = reinterpret_cast<uint8_t*>(buf);
if(data_len > payload_size) data_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);
IF_SERIAL_DEBUG( printf("[Reading %u bytes %u blanks]\n",data_len,blank_len); );
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size;
size = data_len + blank_len + 1; // Add register value to transmit buffer
*ptx++ = R_RX_PAYLOAD;
while(--size)
*ptx++ = RF24_NOP;
size = data_len + blank_len + 1; // Size has been lost during while, re affect
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx++; // 1st byte is status
if (data_len > 0) {
while ( --data_len ) // Decrement before to skip 1st status byte
*current++ = *prx++;
*current = *prx;
}
endTransaction();
#else
beginTransaction();
status = _SPI.transfer( R_RX_PAYLOAD );
while ( data_len-- ) {
*current++ = _SPI.transfer(0xFF);
}
while ( blank_len-- ) {
_SPI.transfer(0xff);
}
endTransaction();
#endif
return status;
}
/****************************************************************************/
uint8_t RF24::flush_rx(void)
{
return spiTrans( FLUSH_RX );
}
/****************************************************************************/
uint8_t RF24::flush_tx(void)
{
return spiTrans( FLUSH_TX );
}
/****************************************************************************/
uint8_t RF24::spiTrans(uint8_t cmd){
uint8_t status;
beginTransaction();
status = _SPI.transfer( cmd );
endTransaction();
return status;
}
/****************************************************************************/
uint8_t RF24::get_status(void)
{
return spiTrans(RF24_NOP);
}
/****************************************************************************/
#if !defined (MINIMAL)
void RF24::print_status(uint8_t status)
{
printf_P(PSTR("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) & 0x07),
(status & _BV(TX_FULL))?1:0
);
}
/****************************************************************************/
void RF24::print_observe_tx(uint8_t value)
{
printf_P(PSTR("OBSERVE_TX=%02x: POLS_CNT=%x ARC_CNT=%x\r\n"),
value,
(value >> PLOS_CNT) & 0x0F,
(value >> ARC_CNT) & 0x0F
);
}
/****************************************************************************/
void RF24::print_byte_register(const char* name, uint8_t reg, uint8_t qty)
{
//char extra_tab = strlen_P(name) < 8 ? '\t' : 0;
//printf_P(PSTR(PRIPSTR"\t%c ="),name,extra_tab);
#if defined (RF24_LINUX)
printf("%s\t =", name);
#else
printf_P(PSTR(PRIPSTR"\t ="),name);
#endif
while (qty--)
printf_P(PSTR(" 0x%02x"),read_register(reg++));
printf_P(PSTR("\r\n"));
}
/****************************************************************************/
void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
{
#if defined (RF24_LINUX)
printf("%s\t =",name);
#else
printf_P(PSTR(PRIPSTR"\t ="),name);
#endif
while (qty--)
{
uint8_t buffer[addr_width];
read_register(reg++,buffer,sizeof buffer);
printf_P(PSTR(" 0x"));
uint8_t* bufptr = buffer + sizeof buffer;
while( --bufptr >= buffer )
printf_P(PSTR("%02x"),*bufptr);
}
printf_P(PSTR("\r\n"));
}
#endif
/****************************************************************************/
RF24::RF24(uint16_t _cepin, uint16_t _cspin):
ce_pin(_cepin), csn_pin(_cspin), p_variant(false),
payload_size(32), dynamic_payloads_enabled(false), addr_width(5),csDelay(5)//,pipe0_reading_address(0)
{
pipe0_reading_address[0]=0;
}
/****************************************************************************/
#if defined (RF24_LINUX) && !defined (MRAA)//RPi constructor
RF24::RF24(uint16_t _cepin, uint16_t _cspin, uint32_t _spi_speed):
ce_pin(_cepin),csn_pin(_cspin),spi_speed(_spi_speed),p_variant(false), payload_size(32), dynamic_payloads_enabled(false),addr_width(5)//,pipe0_reading_address(0)
{
pipe0_reading_address[0]=0;
}
#endif
/****************************************************************************/
void RF24::setChannel(uint8_t channel)
{
const uint8_t max_channel = 125;
write_register(RF_CH,rf24_min(channel,max_channel));
}
uint8_t RF24::getChannel()
{
return read_register(RF_CH);
}
/****************************************************************************/
void RF24::setPayloadSize(uint8_t size)
{
payload_size = rf24_min(size,32);
}
/****************************************************************************/
uint8_t RF24::getPayloadSize(void)
{
return payload_size;
}
/****************************************************************************/
#if !defined (MINIMAL)
static const char rf24_datarate_e_str_0[] PROGMEM = "1MBPS";
static const char rf24_datarate_e_str_1[] PROGMEM = "2MBPS";
static const char rf24_datarate_e_str_2[] PROGMEM = "250KBPS";
static const char * const rf24_datarate_e_str_P[] PROGMEM = {
rf24_datarate_e_str_0,
rf24_datarate_e_str_1,
rf24_datarate_e_str_2,
};
static const char rf24_model_e_str_0[] PROGMEM = "nRF24L01";
static const char rf24_model_e_str_1[] PROGMEM = "nRF24L01+";
static const char * const rf24_model_e_str_P[] PROGMEM = {
rf24_model_e_str_0,
rf24_model_e_str_1,
};
static const char rf24_crclength_e_str_0[] PROGMEM = "Disabled";
static const char rf24_crclength_e_str_1[] PROGMEM = "8 bits";
static const char rf24_crclength_e_str_2[] PROGMEM = "16 bits" ;
static const char * const rf24_crclength_e_str_P[] PROGMEM = {
rf24_crclength_e_str_0,
rf24_crclength_e_str_1,
rf24_crclength_e_str_2,
};
static const char rf24_pa_dbm_e_str_0[] PROGMEM = "PA_MIN";
static const char rf24_pa_dbm_e_str_1[] PROGMEM = "PA_LOW";
static const char rf24_pa_dbm_e_str_2[] PROGMEM = "PA_HIGH";
static const char rf24_pa_dbm_e_str_3[] PROGMEM = "PA_MAX";
static const char * const rf24_pa_dbm_e_str_P[] PROGMEM = {
rf24_pa_dbm_e_str_0,
rf24_pa_dbm_e_str_1,
rf24_pa_dbm_e_str_2,
rf24_pa_dbm_e_str_3,
};
#if defined (RF24_LINUX)
static const char rf24_csn_e_str_0[] = "CE0 (PI Hardware Driven)";
static const char rf24_csn_e_str_1[] = "CE1 (PI Hardware Driven)";
static const char rf24_csn_e_str_2[] = "CE2 (PI Hardware Driven)";
static const char rf24_csn_e_str_3[] = "Custom GPIO Software Driven";
static const char * const rf24_csn_e_str_P[] = {
rf24_csn_e_str_0,
rf24_csn_e_str_1,
rf24_csn_e_str_2,
rf24_csn_e_str_3,
};
#endif
void RF24::printDetails(void)
{
#if defined (RF24_RPi)
printf("================ SPI Configuration ================\n" );
if (csn_pin < BCM2835_SPI_CS_NONE ){
printf("CSN Pin \t = %s\n",rf24_csn_e_str_P[csn_pin]);
}else{
printf("CSN Pin \t = Custom GPIO%d%s\n", csn_pin,
csn_pin==RPI_V2_GPIO_P1_26 ? " (CE1) Software Driven" : "" );
}
printf("CE Pin \t = Custom GPIO%d\n", ce_pin );
printf("Clock Speed\t = " );
switch (spi_speed)
{
case BCM2835_SPI_SPEED_64MHZ : printf("64 Mhz"); break ;
case BCM2835_SPI_SPEED_32MHZ : printf("32 Mhz"); break ;
case BCM2835_SPI_SPEED_16MHZ : printf("16 Mhz"); break ;
case BCM2835_SPI_SPEED_8MHZ : printf("8 Mhz"); break ;
case BCM2835_SPI_SPEED_4MHZ : printf("4 Mhz"); break ;
case BCM2835_SPI_SPEED_2MHZ : printf("2 Mhz"); break ;
case BCM2835_SPI_SPEED_1MHZ : printf("1 Mhz"); break ;
case BCM2835_SPI_SPEED_512KHZ: printf("512 KHz"); break ;
case BCM2835_SPI_SPEED_256KHZ: printf("256 KHz"); break ;
case BCM2835_SPI_SPEED_128KHZ: printf("128 KHz"); break ;
case BCM2835_SPI_SPEED_64KHZ : printf("64 KHz"); break ;
case BCM2835_SPI_SPEED_32KHZ : printf("32 KHz"); break ;
case BCM2835_SPI_SPEED_16KHZ : printf("16 KHz"); break ;
case BCM2835_SPI_SPEED_8KHZ : printf("8 KHz"); break ;
default : printf("8 Mhz"); break ;
}
printf("\n================ NRF Configuration ================\n");
#endif //Linux
print_status(get_status());
print_address_register(PSTR("RX_ADDR_P0-1"),RX_ADDR_P0,2);
print_byte_register(PSTR("RX_ADDR_P2-5"),RX_ADDR_P2,4);
print_address_register(PSTR("TX_ADDR\t"),TX_ADDR);
print_byte_register(PSTR("RX_PW_P0-6"),RX_PW_P0,6);
print_byte_register(PSTR("EN_AA\t"),EN_AA);
print_byte_register(PSTR("EN_RXADDR"),EN_RXADDR);
print_byte_register(PSTR("RF_CH\t"),RF_CH);
print_byte_register(PSTR("RF_SETUP"),RF_SETUP);
print_byte_register(PSTR("CONFIG\t"),NRF_CONFIG);
print_byte_register(PSTR("DYNPD/FEATURE"),DYNPD,2);
printf_P(PSTR("Data Rate\t = " PRIPSTR "\r\n"),pgm_read_word(&rf24_datarate_e_str_P[getDataRate()]));
printf_P(PSTR("Model\t\t = " PRIPSTR "\r\n"),pgm_read_word(&rf24_model_e_str_P[isPVariant()]));
printf_P(PSTR("CRC Length\t = " PRIPSTR "\r\n"),pgm_read_word(&rf24_crclength_e_str_P[getCRCLength()]));
printf_P(PSTR("PA Power\t = " PRIPSTR "\r\n"), pgm_read_word(&rf24_pa_dbm_e_str_P[getPALevel()]));
}
#endif
/****************************************************************************/
bool RF24::begin(void)
{
uint8_t setup=0;
#if defined (RF24_LINUX)
#if defined (MRAA)
GPIO();
gpio.begin(ce_pin,csn_pin);
#endif
#ifdef RF24_RPi
switch(csn_pin){ //Ensure valid hardware CS pin
case 0: break;
case 1: break;
// Allow BCM2835 enums for RPi
case 8: csn_pin = 0; break;
case 7: csn_pin = 1; break;
default: csn_pin = 0; break;
}
#endif
_SPI.begin(csn_pin);
pinMode(ce_pin,OUTPUT);
ce(LOW);
delay(100);
#elif defined(LITTLEWIRE)
pinMode(csn_pin,OUTPUT);
_SPI.begin();
csn(HIGH);
#elif defined(XMEGA_D3)
if (ce_pin != csn_pin) pinMode(ce_pin,OUTPUT);
_SPI.begin(csn_pin);
ce(LOW);
csn(HIGH);
delay(200);
#else
// Initialize pins
if (ce_pin != csn_pin) pinMode(ce_pin,OUTPUT);
#if ! defined(LITTLEWIRE)
if (ce_pin != csn_pin)
#endif
pinMode(csn_pin,OUTPUT);
_SPI.begin();
ce(LOW);
csn(HIGH);
#if defined (__ARDUINO_X86__)
delay(100);
#endif
#endif //Linux
// 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: Delay is based on P-variant whereby non-P *may* require different timing.
delay( 5 ) ;
// Reset NRF_CONFIG and enable 16-bit CRC.
write_register( NRF_CONFIG, 0x0C ) ;
// 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.
setRetries(5,15);
// Reset value is MAX
//setPALevel( RF24_PA_MAX ) ;
// check for connected module and if this is a p nRF24l01 variant
//
if( setDataRate( RF24_250KBPS ) )
{
p_variant = true ;
}
setup = read_register(RF_SETUP);
/*if( setup == 0b00001110 ) // register default for nRF24L01P
{
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 - Reset value is 0
toggle_features();
write_register(FEATURE,0 );
write_register(DYNPD,0);
dynamic_payloads_enabled = false;
// Reset current status
// Notice reset and flush is the last thing we do
write_register(NRF_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);
// Flush buffers
flush_rx();
flush_tx();
powerUp(); //Power up by default when begin() is called
// Enable PTX, do not write CE high so radio will remain in standby I mode ( 130us max to transition to RX or TX instead of 1500us from powerUp )
// PTX should use only 22uA of power
write_register(NRF_CONFIG, ( read_register(NRF_CONFIG) ) & ~_BV(PRIM_RX) );
// if setup is 0 or ff then there was no response from module
return ( setup != 0 && setup != 0xff );
}
/****************************************************************************/
bool RF24::isChipConnected()
{
uint8_t setup = read_register(SETUP_AW);
if(setup >= 1 && setup <= 3)
{
return true;
}
return false;
}
/****************************************************************************/
void RF24::startListening(void)
{
#if !defined (RF24_TINY) && ! defined(LITTLEWIRE)
powerUp();
#endif
write_register(NRF_CONFIG, read_register(NRF_CONFIG) | _BV(PRIM_RX));
write_register(NRF_STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
ce(HIGH);
// Restore the pipe0 adddress, if exists
if (pipe0_reading_address[0] > 0){
write_register(RX_ADDR_P0, pipe0_reading_address, addr_width);
}else{
closeReadingPipe(0);
}
// Flush buffers
//flush_rx();
if(read_register(FEATURE) & _BV(EN_ACK_PAY)){
flush_tx();
}
// Go!
//delayMicroseconds(100);
}
/****************************************************************************/
static const uint8_t child_pipe_enable[] PROGMEM =
{
ERX_P0, ERX_P1, ERX_P2, ERX_P3, ERX_P4, ERX_P5
};
void RF24::stopListening(void)
{
ce(LOW);
delayMicroseconds(txDelay);
if(read_register(FEATURE) & _BV(EN_ACK_PAY)){
delayMicroseconds(txDelay); //200
flush_tx();
}
//flush_rx();
write_register(NRF_CONFIG, ( read_register(NRF_CONFIG) ) & ~_BV(PRIM_RX) );
#if defined (RF24_TINY) || defined (LITTLEWIRE)
// for 3 pins solution TX mode is only left with additonal powerDown/powerUp cycle
if (ce_pin == csn_pin) {
powerDown();
powerUp();
}
#endif
write_register(EN_RXADDR,read_register(EN_RXADDR) | _BV(pgm_read_byte(&child_pipe_enable[0]))); // Enable RX on pipe0
//delayMicroseconds(100);
}
/****************************************************************************/
void RF24::powerDown(void)
{
ce(LOW); // Guarantee CE is low on powerDown
write_register(NRF_CONFIG,read_register(NRF_CONFIG) & ~_BV(PWR_UP));
}
/****************************************************************************/
//Power up now. Radio will not power down unless instructed by MCU for config changes etc.
void RF24::powerUp(void)
{
uint8_t cfg = read_register(NRF_CONFIG);
// if not powered up then power up and wait for the radio to initialize
if (!(cfg & _BV(PWR_UP))){
write_register(NRF_CONFIG, cfg | _BV(PWR_UP));
// For nRF24L01+ to go from power down mode to TX or RX mode it must first pass through stand-by mode.
// There must be a delay of Tpd2stby (see Table 16.) after the nRF24L01+ leaves power down mode before
// the CEis set high. - Tpd2stby can be up to 5ms per the 1.0 datasheet
delay(5);
}
}
/******************************************************************/
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
void RF24::errNotify(){
#if defined (SERIAL_DEBUG) || defined (RF24_LINUX)
printf_P(PSTR("RF24 HARDWARE FAIL: Radio not responding, verify pin connections, wiring, etc.\r\n"));
#endif
#if defined (FAILURE_HANDLING)
failureDetected = 1;
#else
delay(5000);
#endif
}
#endif
/******************************************************************/
//Similar to the previous write, clears the interrupt flags
bool RF24::write( const void* buf, uint8_t len, const bool multicast )
{
//Start Writing
startFastWrite(buf,len,multicast);
//Wait until complete or failed
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
uint32_t timer = millis();
#endif
while( ! ( get_status() & ( _BV(TX_DS) | _BV(MAX_RT) ))) {
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
if(millis() - timer > 95){
errNotify();
#if defined (FAILURE_HANDLING)
return 0;
#else
delay(100);
#endif
}
#endif
}
ce(LOW);
uint8_t status = write_register(NRF_STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
//Max retries exceeded
if( status & _BV(MAX_RT)){
flush_tx(); //Only going to be 1 packet int the FIFO at a time using this method, so just flush
return 0;
}
//TX OK 1 or 0
return 1;
}
bool RF24::write( const void* buf, uint8_t len ){
return write(buf,len,0);
}
/****************************************************************************/
//For general use, the interrupt flags are not important to clear
bool RF24::writeBlocking( const void* buf, uint8_t len, uint32_t timeout )
{
//Block until the FIFO is NOT full.
//Keep track of the MAX retries and set auto-retry if seeing failures
//This way the FIFO will fill up and allow blocking until packets go through
//The radio will auto-clear everything in the FIFO as long as CE remains high
uint32_t timer = millis(); //Get the time that the payload transmission started
while( ( get_status() & ( _BV(TX_FULL) ))) { //Blocking only if FIFO is full. This will loop and block until TX is successful or timeout
if( get_status() & _BV(MAX_RT)){ //If MAX Retries have been reached
reUseTX(); //Set re-transmit and clear the MAX_RT interrupt flag
if(millis() - timer > timeout){ return 0; } //If this payload has exceeded the user-defined timeout, exit and return 0
}
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
if(millis() - timer > (timeout+95) ){
errNotify();
#if defined (FAILURE_HANDLING)
return 0;
#endif
}
#endif
}
//Start Writing
startFastWrite(buf,len,0); //Write the payload if a buffer is clear
return 1; //Return 1 to indicate successful transmission
}
/****************************************************************************/
void RF24::reUseTX(){
write_register(NRF_STATUS,_BV(MAX_RT) ); //Clear max retry flag
spiTrans( REUSE_TX_PL );
ce(LOW); //Re-Transfer packet
ce(HIGH);
}
/****************************************************************************/
bool RF24::writeFast( const void* buf, uint8_t len, const bool multicast )
{
//Block until the FIFO is NOT full.
//Keep track of the MAX retries and set auto-retry if seeing failures
//Return 0 so the user can control the retrys and set a timer or failure counter if required
//The radio will auto-clear everything in the FIFO as long as CE remains high
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
uint32_t timer = millis();
#endif
while( ( get_status() & ( _BV(TX_FULL) ))) { //Blocking only if FIFO is full. This will loop and block until TX is successful or fail
if( get_status() & _BV(MAX_RT)){
//reUseTX(); //Set re-transmit
write_register(NRF_STATUS,_BV(MAX_RT) ); //Clear max retry flag
return 0; //Return 0. The previous payload has been retransmitted
//From the user perspective, if you get a 0, just keep trying to send the same payload
}
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
if(millis() - timer > 95 ){
errNotify();
#if defined (FAILURE_HANDLING)
return 0;
#endif
}
#endif
}
//Start Writing
startFastWrite(buf,len,multicast);
return 1;
}
bool RF24::writeFast( const void* buf, uint8_t len ){
return writeFast(buf,len,0);
}
/****************************************************************************/
//Per the documentation, we want to set PTX Mode when not listening. Then all we do is write data and set CE high
//In this mode, if we can keep the FIFO buffers loaded, packets will transmit immediately (no 130us delay)
//Otherwise we enter Standby-II mode, which is still faster than standby mode
//Also, we remove the need to keep writing the config register over and over and delaying for 150 us each time if sending a stream of data
void RF24::startFastWrite( const void* buf, uint8_t len, const bool multicast, bool startTx){ //TMRh20
//write_payload( buf,len);
write_payload( buf, len,multicast ? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD ) ;
if(startTx){
ce(HIGH);
}
}
/****************************************************************************/
//Added the original startWrite back in so users can still use interrupts, ack payloads, etc
//Allows the library to pass all tests
void RF24::startWrite( const void* buf, uint8_t len, const bool multicast ){
// Send the payload
//write_payload( buf, len );
write_payload( buf, len,multicast? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD ) ;
ce(HIGH);
#if defined(CORE_TEENSY) || !defined(ARDUINO) || defined (RF24_SPIDEV) || defined (RF24_DUE)
delayMicroseconds(10);
#endif
ce(LOW);
}
/****************************************************************************/
bool RF24::rxFifoFull(){
return read_register(FIFO_STATUS) & _BV(RX_FULL);
}
/****************************************************************************/
bool RF24::txStandBy(){
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
uint32_t timeout = millis();
#endif
while( ! (read_register(FIFO_STATUS) & _BV(TX_EMPTY)) ){
if( get_status() & _BV(MAX_RT)){
write_register(NRF_STATUS,_BV(MAX_RT) );
ce(LOW);
flush_tx(); //Non blocking, flush the data
return 0;
}
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
if( millis() - timeout > 95){
errNotify();
#if defined (FAILURE_HANDLING)
return 0;
#endif
}
#endif
}
ce(LOW); //Set STANDBY-I mode
return 1;
}
/****************************************************************************/
bool RF24::txStandBy(uint32_t timeout, bool startTx){
if(startTx){
stopListening();
ce(HIGH);
}
uint32_t start = millis();
while( ! (read_register(FIFO_STATUS) & _BV(TX_EMPTY)) ){
if( get_status() & _BV(MAX_RT)){
write_register(NRF_STATUS,_BV(MAX_RT) );
ce(LOW); //Set re-transmit
ce(HIGH);
if(millis() - start >= timeout){
ce(LOW); flush_tx(); return 0;
}
}
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
if( millis() - start > (timeout+95)){
errNotify();
#if defined (FAILURE_HANDLING)
return 0;
#endif
}
#endif
}
ce(LOW); //Set STANDBY-I mode
return 1;
}
/****************************************************************************/
void RF24::maskIRQ(bool tx, bool fail, bool rx){
uint8_t config = read_register(NRF_CONFIG);
/* clear the interrupt flags */
config &= ~(1 << MASK_MAX_RT | 1 << MASK_TX_DS | 1 << MASK_RX_DR);
/* set the specified interrupt flags */
config |= fail << MASK_MAX_RT | tx << MASK_TX_DS | rx << MASK_RX_DR;
write_register(NRF_CONFIG, config);
}
/****************************************************************************/
uint8_t RF24::getDynamicPayloadSize(void)
{
uint8_t result = 0;
#if defined (RF24_LINUX)
spi_txbuff[0] = R_RX_PL_WID;
spi_rxbuff[1] = 0xff;
beginTransaction();
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, 2);
result = spi_rxbuff[1];
endTransaction();
#else
beginTransaction();
_SPI.transfer( R_RX_PL_WID );
result = _SPI.transfer(0xff);
endTransaction();
#endif
if(result > 32) { flush_rx(); delay(2); return 0; }
return result;
}
/****************************************************************************/
bool RF24::available(void)
{
return available(NULL);
}
/****************************************************************************/
bool RF24::available(uint8_t* pipe_num)
{
if (!( read_register(FIFO_STATUS) & _BV(RX_EMPTY) )){
// If the caller wants the pipe number, include that
if ( pipe_num ){
uint8_t status = get_status();
*pipe_num = ( status >> RX_P_NO ) & 0x07;
}
return 1;
}
return 0;
}
/****************************************************************************/
void RF24::read( void* buf, uint8_t len ){
// Fetch the payload
read_payload( buf, len );
//Clear the two possible interrupt flags with one command
write_register(NRF_STATUS,_BV(RX_DR) | _BV(MAX_RT) | _BV(TX_DS) );
}
/****************************************************************************/
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(NRF_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), addr_width);
write_register(TX_ADDR, reinterpret_cast<uint8_t*>(&value), addr_width);
//const uint8_t max_payload_size = 32;
//write_register(RX_PW_P0,rf24_min(payload_size,max_payload_size));
write_register(RX_PW_P0,payload_size);
}
/****************************************************************************/
void RF24::openWritingPipe(const uint8_t *address)
{
// 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,address, addr_width);
write_register(TX_ADDR, address, addr_width);
//const uint8_t max_payload_size = 32;
//write_register(RX_PW_P0,rf24_min(payload_size,max_payload_size));
write_register(RX_PW_P0,payload_size);
}
/****************************************************************************/
static const uint8_t child_pipe[] PROGMEM =
{
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[] PROGMEM =
{
RX_PW_P0, RX_PW_P1, RX_PW_P2, RX_PW_P3, RX_PW_P4, RX_PW_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){
memcpy(pipe0_reading_address,&address,addr_width);
}
if (child <= 6)
{
// For pipes 2-5, only write the LSB
if ( child < 2 )
write_register(pgm_read_byte(&child_pipe[child]), reinterpret_cast<const uint8_t*>(&address), addr_width);
else
write_register(pgm_read_byte(&child_pipe[child]), reinterpret_cast<const uint8_t*>(&address), 1);
write_register(pgm_read_byte(&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(pgm_read_byte(&child_pipe_enable[child])));
}
}
/****************************************************************************/
void RF24::setAddressWidth(uint8_t a_width){
if(a_width -= 2){
write_register(SETUP_AW,a_width%4);
addr_width = (a_width%4) + 2;
}else{
write_register(SETUP_AW,0);
addr_width = 2;
}
}
/****************************************************************************/
void RF24::openReadingPipe(uint8_t child, const uint8_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){
memcpy(pipe0_reading_address,address,addr_width);
}
if (child <= 6)
{
// For pipes 2-5, only write the LSB
if ( child < 2 ){
write_register(pgm_read_byte(&child_pipe[child]), address, addr_width);
}else{
write_register(pgm_read_byte(&child_pipe[child]), address, 1);
}
write_register(pgm_read_byte(&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(pgm_read_byte(&child_pipe_enable[child])));
}
}
/****************************************************************************/
void RF24::closeReadingPipe( uint8_t pipe )
{
write_register(EN_RXADDR,read_register(EN_RXADDR) & ~_BV(pgm_read_byte(&child_pipe_enable[pipe])));
}
/****************************************************************************/
void RF24::toggle_features(void)
{
beginTransaction();
_SPI.transfer( ACTIVATE );
_SPI.transfer( 0x73 );
endTransaction();
}
/****************************************************************************/
void RF24::enableDynamicPayloads(void)
{
// Enable dynamic payload throughout the system
//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::disableDynamicPayloads(void)
{
// Disables dynamic payload throughout the system. Also disables Ack Payloads
//toggle_features();
write_register(FEATURE, 0);
IF_SERIAL_DEBUG(printf("FEATURE=%i\r\n",read_register(FEATURE)));
// Disable 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, 0);
dynamic_payloads_enabled = false;
}
/****************************************************************************/
void RF24::enableAckPayload(void)
{
//
// enable ack payload and dynamic payload features
//
//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));
dynamic_payloads_enabled = true;
}
/****************************************************************************/
void RF24::enableDynamicAck(void){
//
// enable dynamic ack features
//
//toggle_features();
write_register(FEATURE,read_register(FEATURE) | _BV(EN_DYN_ACK) );
IF_SERIAL_DEBUG(printf("FEATURE=%i\r\n",read_register(FEATURE)));
}
/****************************************************************************/
void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
{
const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
uint8_t data_len = rf24_min(len,32);
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * ptx = spi_txbuff;
uint8_t size = data_len + 1 ; // Add register value to transmit buffer
*ptx++ = W_ACK_PAYLOAD | ( pipe & 0x07 );
while ( data_len-- ){
*ptx++ = *current++;
}
_SPI.transfern( (char *) spi_txbuff, size);
endTransaction();
#else
beginTransaction();
_SPI.transfer(W_ACK_PAYLOAD | ( pipe & 0x07 ) );
while ( data_len-- )
_SPI.transfer(*current++);
endTransaction();
#endif
}
/****************************************************************************/
bool RF24::isAckPayloadAvailable(void)
{
return ! (read_register(FIFO_STATUS) & _BV(RX_EMPTY));
}
/****************************************************************************/
bool RF24::isPVariant(void)
{
return p_variant ;
}
/****************************************************************************/
void RF24::setAutoAck(bool enable)
{
if ( enable )
write_register(EN_AA, 0x3F);
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(uint8_t level)
{
uint8_t setup = read_register(RF_SETUP) & 0xF8;
if(level > 3){ // If invalid level, go to max PA
level = (RF24_PA_MAX << 1) + 1; // +1 to support the SI24R1 chip extra bit
}else{
level = (level << 1) + 1; // Else set level as requested
}
write_register( RF_SETUP, setup |= level ) ; // Write it to the chip
}
/****************************************************************************/
uint8_t RF24::getPALevel(void)
{
return (read_register(RF_SETUP) & (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH))) >> 1 ;
}
/****************************************************************************/
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
setup &= ~(_BV(RF_DR_LOW) | _BV(RF_DR_HIGH)) ;
#if defined(__arm__) || defined (RF24_LINUX) || defined (__ARDUINO_X86__)
txDelay=250;
#else //16Mhz Arduino
txDelay=85;
#endif
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'.
setup |= _BV( RF_DR_LOW ) ;
#if defined(__arm__) || defined (RF24_LINUX) || defined (__ARDUINO_X86__)
txDelay=450;
#else //16Mhz Arduino
txDelay=155;
#endif
}
else
{
// Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
// Making it '01'
if ( speed == RF24_2MBPS )
{
setup |= _BV(RF_DR_HIGH);
#if defined(__arm__) || defined (RF24_LINUX) || defined (__ARDUINO_X86__)
txDelay=190;
#else //16Mhz Arduino
txDelay=65;
#endif
}
}
write_register(RF_SETUP,setup);
// Verify our result
if ( read_register(RF_SETUP) == setup )
{
result = true;
}
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(NRF_CONFIG) & ~( _BV(CRCO) | _BV(EN_CRC)) ;
// switch uses RAM (evil!)
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( NRF_CONFIG, config ) ;
}
/****************************************************************************/
rf24_crclength_e RF24::getCRCLength(void)
{
rf24_crclength_e result = RF24_CRC_DISABLED;
uint8_t config = read_register(NRF_CONFIG) & ( _BV(CRCO) | _BV(EN_CRC)) ;
uint8_t AA = read_register(EN_AA);
if ( config & _BV(EN_CRC ) || AA)
{
if ( config & _BV(CRCO) )
result = RF24_CRC_16;
else
result = RF24_CRC_8;
}
return result;
}
/****************************************************************************/
void RF24::disableCRC( void )
{
uint8_t disable = read_register(NRF_CONFIG) & ~_BV(EN_CRC) ;
write_register( NRF_CONFIG, disable ) ;
}
/****************************************************************************/
void RF24::setRetries(uint8_t delay, uint8_t count)
{
write_register(SETUP_RETR,(delay&0xf)<<ARD | (count&0xf)<<ARC);
}
//ATTiny support code pulled in from https://github.com/jscrane/RF24
#if defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)
// see http://gammon.com.au/spi
# define DI 0 // D0, pin 5 Data In
# define DO 1 // D1, pin 6 Data Out (this is *not* MOSI)
# define USCK 2 // D2, pin 7 Universal Serial Interface clock
# define SS 3 // D3, pin 2 Slave Select
#elif defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__)
// these depend on the core used (check pins_arduino.h)
// this is for jeelabs' one (based on google-code core)
# define DI 4 // PA6
# define DO 5 // PA5
# define USCK 6 // PA4
# define SS 3 // PA7
#elif defined(__AVR_ATtiny2313__) || defined(__AVR_ATtiny4313__)
// these depend on the core used (check pins_arduino.h)
// tested with google-code core
# define DI 14 // PB5
# define DO 15 // PB6
# define USCK 16 // PB7
# define SS 13 // PB4
#elif defined(__AVR_ATtiny861__)
// these depend on the core used (check pins_arduino.h)
// tested with google-code core
# define DI 9 // PB0
# define DO 8 // PB1
# define USCK 7 // PB2
# define SS 6 // PB3
#endif
#if defined(RF24_TINY)
void SPIClass::begin() {
pinMode(USCK, OUTPUT);
pinMode(DO, OUTPUT);
pinMode(DI, INPUT);
USICR = _BV(USIWM0);
}
byte SPIClass::transfer(byte b) {
USIDR = b;
USISR = _BV(USIOIF);
do
USICR = _BV(USIWM0) | _BV(USICS1) | _BV(USICLK) | _BV(USITC);
while ((USISR & _BV(USIOIF)) == 0);
return USIDR;
}
void SPIClass::end() {}
void SPIClass::setDataMode(uint8_t mode){}
void SPIClass::setBitOrder(uint8_t bitOrder){}
void SPIClass::setClockDivider(uint8_t rate){}
#endif
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