TMRh20 ported to MBED
Fork of TMRh20 by
Diff: RF24.h
- Revision:
- 6:15a3bbf90fe9
- Parent:
- 3:13e43d3101a5
--- a/RF24.h Mon Mar 28 18:13:17 2016 +0000 +++ b/RF24.h Fri Oct 06 20:20:33 2017 +0000 @@ -15,8 +15,8 @@ #ifndef __RF24_H__ #define __RF24_H__ +#include "RF24_config.h" #include "mbed.h" -#include "RF24_config.h" /** * Power Amplifier level. @@ -47,1052 +47,1082 @@ { private: - DigitalOut ce_pin; /**< "Chip Enable" pin, activates the RX or TX role */ - DigitalOut csn_pin; /**< SPI Chip select */ - //uint16_t spi_speed; /**< SPI Bus Speed */ + SPI *spi; - uint8_t spi_rxbuff[32+1] ; //SPI receive buffer (payload max 32 bytes) - uint8_t spi_txbuff[32+1] ; //SPI transmit buffer (payload max 32 bytes + 1 byte for the command) + DigitalOut ce_pin; /**< "Chip Enable" pin, activates the RX or TX role */ + DigitalOut csn_pin; /**< SPI Chip select */ - bool p_variant; /* False for RF24L01 and true for RF24L01P */ - uint8_t payload_size; /**< Fixed size of payloads */ - bool dynamic_payloads_enabled; /**< Whether dynamic payloads are enabled. */ - uint8_t pipe0_reading_address[5]; /**< Last address set on pipe 0 for reading. */ - uint8_t addr_width; /**< The address width to use - 3,4 or 5 bytes. */ - uint32_t txRxDelay; /**< Var for adjusting delays depending on datarate */ - - SPI spi; - - Timer mainTimer; - + bool p_variant; /* False for RF24L01 and true for RF24L01P */ + uint8_t payload_size; /**< Fixed size of payloads */ + bool dynamic_payloads_enabled; /**< Whether dynamic payloads are enabled. */ + uint8_t pipe0_reading_address[5]; /**< Last address set on pipe 0 for reading. */ + uint8_t addr_width; /**< The address width to use - 3,4 or 5 bytes. */ + protected: - /** - * SPI transactions - * - * Common code for SPI transactions including CSN toggle - * - */ - void beginTransaction(); // inline removed + /** + * SPI transactions + * + * Common code for SPI transactions including CSN toggle + * + */ + inline void beginTransaction(); - void endTransaction(); // inline removed + inline void endTransaction(); public: - /** - * @name Primary public interface - * - * These are the main methods you need to operate the chip - */ - /**@{*/ + /** + * @name Primary public interface + * + * These are the main methods you need to operate the chip + */ + /**@{*/ + + /** + * MBED 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 + * @param spispeed For RPi, the SPI speed in MHZ ie: BCM2835_SPI_SPEED_8MHZ + */ + + RF24(SPI *spi, PinName _cepin, PinName _cspin); - /** - * Arduino 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 _cspin, PinName _cepin); + /** + * Begin operation of the chip + * + * Call this in setup(), before calling any other methods. + * @code radio.begin() @endcode + */ + bool begin(void); - virtual ~RF24() {}; + /** + * Checks if the chip is connected to the SPI bus + */ + bool isChipConnected(); - /** - * Begin operation of the chip - * - * Call this in setup(), before calling any other methods. - * @code radio.begin() @endcode - */ - bool begin(void); - void begin_MB(void); + /** + * Start listening on the pipes opened for reading. + * + * 1. Be sure to call openReadingPipe() first. + * 2. Do not call write() while in this mode, without first calling stopListening(). + * 3. Call available() to check for incoming traffic, and read() to get it. + * + * @code + * Open reading pipe 1 using address CCCECCCECC + * + * byte address[] = { 0xCC,0xCE,0xCC,0xCE,0xCC }; + * radio.openReadingPipe(1,address); + * radio.startListening(); + * @endcode + */ + void startListening(void); - /** - * Start listening on the pipes opened for reading. - * - * 1. Be sure to call openReadingPipe() first. - * 2. Do not call write() while in this mode, without first calling stopListening(). - * 3. Call available() to check for incoming traffic, and read() to get it. - * - * @code - * Open reading pipe 1 using address CCCECCCECC - * - * byte address[] = { 0xCC,0xCE,0xCC,0xCE,0xCC }; - * radio.openReadingPipe(1,address); - * radio.startListening(); - * @endcode - */ - void startListening(void); + /** + * Stop listening for incoming messages, and switch to transmit mode. + * + * Do this before calling write(). + * @code + * radio.stopListening(); + * radio.write(&data,sizeof(data)); + * @endcode + */ + void stopListening(void); + + /** + * Check whether there are bytes available to be read + * @code + * if(radio.available()){ + * radio.read(&data,sizeof(data)); + * } + * @endcode + * @return True if there is a payload available, false if none is + */ + bool available(void); - /** - * Stop listening for incoming messages, and switch to transmit mode. - * - * Do this before calling write(). - * @code - * radio.stopListening(); - * radio.write(&data,sizeof(data)); - * @endcode - */ - void stopListening(void); - - /** - * Check whether there are bytes available to be read - * @code - * if(radio.available()){ - * radio.read(&data,sizeof(data)); - * } - * @endcode - * @return True if there is a payload available, false if none is - */ - bool available(void); + /** + * Read the available payload + * + * 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. + * + * @note No longer boolean. Use available to determine if packets are + * available. Interrupt flags are now cleared during reads instead of + * when calling available(). + * + * @param buf Pointer to a buffer where the data should be written + * @param len Maximum number of bytes to read into the buffer + * + * @code + * if(radio.available()){ + * radio.read(&data,sizeof(data)); + * } + * @endcode + * @return No return value. Use available(). + */ + void read( void* buf, uint8_t len ); - /** - * Read the available payload - * - * 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. - * - * @note No longer boolean. Use available to determine if packets are - * available. Interrupt flags are now cleared during reads instead of - * when calling available(). - * - * @param buf Pointer to a buffer where the data should be written - * @param len Maximum number of bytes to read into the buffer - * - * @code - * if(radio.available()){ - * radio.read(&data,sizeof(data)); - * } - * @endcode - * @return No return value. Use available(). - */ - void read( void* buf, uint8_t len ); + /** + * 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 60-70ms. + * + * 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. + * + * TX/RX/RT interrupt flags will be cleared every time write is called + * + * @param buf Pointer to the data to be sent + * @param len Number of bytes to be sent + * + * @code + * radio.stopListening(); + * radio.write(&data,sizeof(data)); + * @endcode + * @return True if the payload was delivered successfully false if not + */ + bool write( const void* buf, uint8_t len ); + + /** + * New: Open a pipe for writing via byte array. Old addressing format retained + * for compatibility. + * + * Only one writing pipe can be open at once, but you can change the address + * you'll write to. Call stopListening() first. + * + * Addresses are assigned via a byte array, default is 5 byte address length +s * + * @code + * uint8_t addresses[][6] = {"1Node","2Node"}; + * radio.openWritingPipe(addresses[0]); + * @endcode + * @code + * uint8_t address[] = { 0xCC,0xCE,0xCC,0xCE,0xCC }; + * radio.openWritingPipe(address); + * address[0] = 0x33; + * radio.openReadingPipe(1,address); + * @endcode + * @see setAddressWidth + * + * @param address The address of the pipe to open. Coordinate these pipe + * addresses amongst nodes on the network. + */ + + void openWritingPipe(const uint8_t *address); - /** - * 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 60-70ms. - * - * 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. - * - * TX/RX/RT interrupt flags will be cleared every time write is called - * - * @param buf Pointer to the data to be sent - * @param len Number of bytes to be sent - * - * @code - * radio.stopListening(); - * radio.write(&data,sizeof(data)); - * @endcode - * @return True if the payload was delivered successfully false if not - */ - bool write( const void* buf, uint8_t len ); + /** + * Open a pipe for reading + * + * Up to 6 pipes can be open for reading at once. Open all the required + * reading pipes, and then call startListening(). + * + * @see openWritingPipe + * @see setAddressWidth + * + * @note Pipes 0 and 1 will store a full 5-byte address. Pipes 2-5 will technically + * only store a single byte, borrowing up to 4 additional bytes from pipe #1 per the + * assigned address width. + * @warning Pipes 1-5 should share the same address, except the first byte. + * Only the first byte in the array should be unique, e.g. + * @code + * uint8_t addresses[][6] = {"1Node","2Node"}; + * openReadingPipe(1,addresses[0]); + * openReadingPipe(2,addresses[1]); + * @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(). + * + * @param number Which pipe# to open, 0-5. + * @param address The 24, 32 or 40 bit address of the pipe to open. + */ + + void openReadingPipe(uint8_t number, const uint8_t *address); - /** - * New: Open a pipe for writing via byte array. Old addressing format retained - * for compatibility. - * - * Only one writing pipe can be open at once, but you can change the address - * you'll write to. Call stopListening() first. - * - * Addresses are assigned via a byte array, default is 5 byte address length - s * - * @code - * uint8_t addresses[][6] = {"1Node","2Node"}; - * radio.openWritingPipe(addresses[0]); - * @endcode - * @code - * uint8_t address[] = { 0xCC,0xCE,0xCC,0xCE,0xCC }; - * radio.openWritingPipe(address); - * address[0] = 0x33; - * radio.openReadingPipe(1,address); - * @endcode - * @see setAddressWidth - * - * @param address The address of the pipe to open. Coordinate these pipe - * addresses amongst nodes on the network. - */ + /**@}*/ + /** + * @name Advanced Operation + * + * Methods you can use to drive the chip in more advanced ways + */ + /**@{*/ - void openWritingPipe(const uint8_t *address); + /** + * Print a giant block of debugging information to stdout + * + * @warning Does nothing if stdout is not defined. See fdevopen in stdio.h + * The printf.h file is included with the library for Arduino. + * @code + * #include <printf.h> + * setup(){ + * Serial.begin(115200); + * printf_begin(); + * ... + * } + * @endcode + */ + void printDetails(void); + + /** + * Test whether there are bytes available to be read in the + * FIFO buffers. + * + * @param[out] pipe_num Which pipe has the payload available + * + * @code + * uint8_t pipeNum; + * if(radio.available(&pipeNum)){ + * radio.read(&data,sizeof(data)); + * Serial.print("Got data on pipe"); + * Serial.println(pipeNum); + * } + * @endcode + * @return True if there is a payload available, false if none is + */ + bool available(uint8_t* pipe_num); - /** - * Open a pipe for reading - * - * Up to 6 pipes can be open for reading at once. Open all the required - * reading pipes, and then call startListening(). - * - * @see openWritingPipe - * @see setAddressWidth - * - * @note Pipes 0 and 1 will store a full 5-byte address. Pipes 2-5 will technically - * only store a single byte, borrowing up to 4 additional bytes from pipe #1 per the - * assigned address width. - * @warning Pipes 1-5 should share the same address, except the first byte. - * Only the first byte in the array should be unique, e.g. - * @code - * uint8_t addresses[][6] = {"1Node","2Node"}; - * openReadingPipe(1,addresses[0]); - * openReadingPipe(2,addresses[1]); - * @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(). - * - * @param number Which pipe# to open, 0-5. - * @param address The 24, 32 or 40 bit address of the pipe to open. - */ + /** + * Check if the radio needs to be read. Can be used to prevent data loss + * @return True if all three 32-byte radio buffers are full + */ + bool rxFifoFull(); + + /** + * Enter low-power mode + * + * To return to normal power mode, call powerUp(). + * + * @note After calling startListening(), a basic radio will consume about 13.5mA + * at max PA level. + * During active transmission, the radio will consume about 11.5mA, but this will + * be reduced to 26uA (.026mA) between sending. + * In full powerDown mode, the radio will consume approximately 900nA (.0009mA) + * + * @code + * radio.powerDown(); + * avr_enter_sleep_mode(); // Custom function to sleep the device + * radio.powerUp(); + * @endcode + */ + void powerDown(void); + + /** + * Leave low-power mode - required for normal radio operation after calling powerDown() + * + * To return to low power mode, call powerDown(). + * @note This will take up to 5ms for maximum compatibility + */ + void powerUp(void) ; - void openReadingPipe(uint8_t number, const uint8_t *address); - - /**@}*/ - /** - * @name Advanced Operation - * - * Methods you can use to drive the chip in more advanced ways - */ - /**@{*/ + /** + * Write for single NOACK writes. Optionally disables acknowledgements/autoretries for a single write. + * + * @note enableDynamicAck() must be called to enable this feature + * + * Can be used with enableAckPayload() to request a response + * @see enableDynamicAck() + * @see setAutoAck() + * @see write() + * + * @param buf Pointer to the data to be sent + * @param len Number of bytes to be sent + * @param multicast Request ACK (0), NOACK (1) + */ + bool write( const void* buf, uint8_t len, const bool multicast ); - /** - * Print a giant block of debugging information to stdout - * - * @warning Does nothing if stdout is not defined. See fdevopen in stdio.h - * The printf.h file is included with the library for Arduino. - * @code - * #include <printf.h> - * setup(){ - * Serial.begin(115200); - * printf_begin(); - * ... - * } - * @endcode - */ - void printDetails(void); + /** + * This will not block until the 3 FIFO buffers are filled with data. + * Once the FIFOs are full, writeFast will simply wait for success or + * timeout, and return 1 or 0 respectively. From a user perspective, just + * keep trying to send the same data. The library will keep auto retrying + * the current payload using the built in functionality. + * @warning It is important to never keep the nRF24L01 in TX mode and FIFO full for more than 4ms at a time. If the auto + * retransmit is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO + * to clear by issuing txStandBy() or ensure appropriate time between transmissions. + * + * @code + * Example (Partial blocking): + * + * radio.writeFast(&buf,32); // Writes 1 payload to the buffers + * txStandBy(); // Returns 0 if failed. 1 if success. Blocks only until MAX_RT timeout or success. Data flushed on fail. + * + * radio.writeFast(&buf,32); // Writes 1 payload to the buffers + * txStandBy(1000); // Using extended timeouts, returns 1 if success. Retries failed payloads for 1 seconds before returning 0. + * @endcode + * + * @see txStandBy() + * @see write() + * @see writeBlocking() + * + * @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 writeFast( const void* buf, uint8_t len ); - /** - * Test whether there are bytes available to be read in the - * FIFO buffers. - * - * @param[out] pipe_num Which pipe has the payload available - * - * @code - * uint8_t pipeNum; - * if(radio.available(&pipeNum)){ - * radio.read(&data,sizeof(data)); - * Serial.print("Got data on pipe"); - * Serial.println(pipeNum); - * } - * @endcode - * @return True if there is a payload available, false if none is - */ - bool available(uint8_t* pipe_num); + /** + * WriteFast for single NOACK writes. Disables acknowledgements/autoretries for a single write. + * + * @note enableDynamicAck() must be called to enable this feature + * @see enableDynamicAck() + * @see setAutoAck() + * + * @param buf Pointer to the data to be sent + * @param len Number of bytes to be sent + * @param multicast Request ACK (0) or NOACK (1) + */ + bool writeFast( const void* buf, uint8_t len, const bool multicast ); - /** - * Check if the radio needs to be read. Can be used to prevent data loss - * @return True if all three 32-byte radio buffers are full - */ - bool rxFifoFull(); - - /** - * Enter low-power mode - * - * To return to normal power mode, call powerUp(). - * - * @note After calling startListening(), a basic radio will consume about 13.5mA - * at max PA level. - * During active transmission, the radio will consume about 11.5mA, but this will - * be reduced to 26uA (.026mA) between sending. - * In full powerDown mode, the radio will consume approximately 900nA (.0009mA) - * - * @code - * radio.powerDown(); - * avr_enter_sleep_mode(); // Custom function to sleep the device - * radio.powerUp(); - * @endcode - */ - void powerDown(void); + /** + * This function extends the auto-retry mechanism to any specified duration. + * It will not block until the 3 FIFO buffers are filled with data. + * If so the library will auto retry until a new payload is written + * or the user specified timeout period is reached. + * @warning It is important to never keep the nRF24L01 in TX mode and FIFO full for more than 4ms at a time. If the auto + * retransmit is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO + * to clear by issuing txStandBy() or ensure appropriate time between transmissions. + * + * @code + * Example (Full blocking): + * + * radio.writeBlocking(&buf,32,1000); //Wait up to 1 second to write 1 payload to the buffers + * txStandBy(1000); //Wait up to 1 second for the payload to send. Return 1 if ok, 0 if failed. + * //Blocks only until user timeout or success. Data flushed on fail. + * @endcode + * @note If used from within an interrupt, the interrupt should be disabled until completion, and sei(); called to enable millis(). + * @see txStandBy() + * @see write() + * @see writeFast() + * + * @param buf Pointer to the data to be sent + * @param len Number of bytes to be sent + * @param timeout User defined timeout in milliseconds. + * @return True if the payload was loaded into the buffer successfully false if not + */ + bool writeBlocking( const void* buf, uint8_t len, uint32_t timeout ); - /** - * Leave low-power mode - required for normal radio operation after calling powerDown() - * - * To return to low power mode, call powerDown(). - * @note This will take up to 5ms for maximum compatibility - */ - void powerUp(void) ; - - /** - * Write for single NOACK writes. Optionally disables acknowledgements/autoretries for a single write. - * - * @note enableDynamicAck() must be called to enable this feature - * - * Can be used with enableAckPayload() to request a response - * @see enableDynamicAck() - * @see setAutoAck() - * @see write() - * - * @param buf Pointer to the data to be sent - * @param len Number of bytes to be sent - * @param multicast Request ACK (0), NOACK (1) - */ - bool write( const void* buf, uint8_t len, const bool multicast ); + /** + * This function should be called as soon as transmission is finished to + * drop the radio back to STANDBY-I mode. If not issued, the radio will + * remain in STANDBY-II mode which, per the data sheet, is not a recommended + * operating mode. + * + * @note When transmitting data in rapid succession, it is still recommended by + * the manufacturer to drop the radio out of TX or STANDBY-II mode if there is + * time enough between sends for the FIFOs to empty. This is not required if auto-ack + * is enabled. + * + * Relies on built-in auto retry functionality. + * + * @code + * Example (Partial blocking): + * + * radio.writeFast(&buf,32); + * radio.writeFast(&buf,32); + * radio.writeFast(&buf,32); //Fills the FIFO buffers up + * bool ok = txStandBy(); //Returns 0 if failed. 1 if success. + * //Blocks only until MAX_RT timeout or success. Data flushed on fail. + * @endcode + * @see txStandBy(unsigned long timeout) + * @return True if transmission is successful + * + */ + bool txStandBy(); - /** - * This will not block until the 3 FIFO buffers are filled with data. - * Once the FIFOs are full, writeFast will simply wait for success or - * timeout, and return 1 or 0 respectively. From a user perspective, just - * keep trying to send the same data. The library will keep auto retrying - * the current payload using the built in functionality. - * @warning It is important to never keep the nRF24L01 in TX mode and FIFO full for more than 4ms at a time. If the auto - * retransmit is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO - * to clear by issuing txStandBy() or ensure appropriate time between transmissions. - * - * @code - * Example (Partial blocking): - * - * radio.writeFast(&buf,32); // Writes 1 payload to the buffers - * txStandBy(); // Returns 0 if failed. 1 if success. Blocks only until MAX_RT timeout or success. Data flushed on fail. - * - * radio.writeFast(&buf,32); // Writes 1 payload to the buffers - * txStandBy(1000); // Using extended timeouts, returns 1 if success. Retries failed payloads for 1 seconds before returning 0. - * @endcode - * - * @see txStandBy() - * @see write() - * @see writeBlocking() - * - * @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 writeFast( const void* buf, uint8_t len ); + /** + * This function allows extended blocking and auto-retries per a user defined timeout + * @code + * Fully Blocking Example: + * + * radio.writeFast(&buf,32); + * radio.writeFast(&buf,32); + * radio.writeFast(&buf,32); //Fills the FIFO buffers up + * bool ok = txStandBy(1000); //Returns 0 if failed after 1 second of retries. 1 if success. + * //Blocks only until user defined timeout or success. Data flushed on fail. + * @endcode + * @note If used from within an interrupt, the interrupt should be disabled until completion, and sei(); called to enable millis(). + * @param timeout Number of milliseconds to retry failed payloads + * @return True if transmission is successful + * + */ + bool txStandBy(uint32_t timeout, bool startTx = 0); + + /** + * 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. + * @see enableAckPayload() + * @see enableDynamicPayloads() + * @warning Only three of these can be pending at any time as there are only 3 FIFO buffers.<br> Dynamic payloads must be enabled. + * @note Ack payloads are handled automatically by the radio chip when a payload is received. Users should generally + * write an ack payload as soon as startListening() is called, so one is available when a regular payload is received. + * @note Ack payloads are dynamic payloads. This only works on pipes 0&1 by default. Call + * enableDynamicPayloads() to enable on all pipes. + * + * @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(). The regular available() can also be used. + * + * Call read() to retrieve the ack payload. + * + * @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); - /** - * WriteFast for single NOACK writes. Disables acknowledgements/autoretries for a single write. - * - * @note enableDynamicAck() must be called to enable this feature - * @see enableDynamicAck() - * @see setAutoAck() - * - * @param buf Pointer to the data to be sent - * @param len Number of bytes to be sent - * @param multicast Request ACK (0) or NOACK (1) - */ - bool writeFast( const void* buf, uint8_t len, const bool multicast ); + /** + * Non-blocking write to the open writing pipe used for buffered writes + * + * @note Optimization: This function now leaves the CE pin high, so the radio + * will remain in TX or STANDBY-II Mode until a txStandBy() command is issued. Can be used as an alternative to startWrite() + * if writing multiple payloads at once. + * @warning It is important to never keep the nRF24L01 in TX mode with FIFO full for more than 4ms at a time. If the auto + * retransmit/autoAck is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO + * to clear by issuing txStandBy() or ensure appropriate time between transmissions. + * + * @see write() + * @see writeFast() + * @see startWrite() + * @see writeBlocking() + * + * For single noAck writes see: + * @see enableDynamicAck() + * @see setAutoAck() + * + * @param buf Pointer to the data to be sent + * @param len Number of bytes to be sent + * @param multicast Request ACK (0) or NOACK (1) + * @return True if the payload was delivered successfully false if not + */ + void startFastWrite( const void* buf, uint8_t len, const bool multicast, bool startTx = 1 ); - /** - * This function extends the auto-retry mechanism to any specified duration. - * It will not block until the 3 FIFO buffers are filled with data. - * If so the library will auto retry until a new payload is written - * or the user specified timeout period is reached. - * @warning It is important to never keep the nRF24L01 in TX mode and FIFO full for more than 4ms at a time. If the auto - * retransmit is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO - * to clear by issuing txStandBy() or ensure appropriate time between transmissions. - * - * @code - * Example (Full blocking): - * - * radio.writeBlocking(&buf,32,1000); //Wait up to 1 second to write 1 payload to the buffers - * txStandBy(1000); //Wait up to 1 second for the payload to send. Return 1 if ok, 0 if failed. - * //Blocks only until user timeout or success. Data flushed on fail. - * @endcode - * @note If used from within an interrupt, the interrupt should be disabled until completion, and sei(); called to enable millis(). - * @see txStandBy() - * @see write() - * @see writeFast() - * - * @param buf Pointer to the data to be sent - * @param len Number of bytes to be sent - * @param timeout User defined timeout in milliseconds. - * @return True if the payload was loaded into the buffer successfully false if not - */ - bool writeBlocking( const void* buf, uint8_t len, uint32_t timeout ); + /** + * 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 writeFast() + * @see startFastWrite() + * @see whatHappened() + * + * For single noAck writes see: + * @see enableDynamicAck() + * @see setAutoAck() + * + * @param buf Pointer to the data to be sent + * @param len Number of bytes to be sent + * @param multicast Request ACK (0) or NOACK (1) + * + */ + void startWrite( const void* buf, uint8_t len, const bool multicast ); + + /** + * This function is mainly used internally to take advantage of the auto payload + * re-use functionality of the chip, but can be beneficial to users as well. + * + * The function will instruct the radio to re-use the data in the FIFO buffers, + * and instructs the radio to re-send once the timeout limit has been reached. + * Used by writeFast and writeBlocking to initiate retries when a TX failure + * occurs. Retries are automatically initiated except with the standard write(). + * This way, data is not flushed from the buffer until switching between modes. + * + * @note This is to be used AFTER auto-retry fails if wanting to resend + * using the built-in payload reuse features. + * After issuing reUseTX(), it will keep reending the same payload forever or until + * a payload is written to the FIFO, or a flush_tx command is given. + */ + void reUseTX(); + + /** + * Empty the transmit buffer. This is generally not required in standard operation. + * May be required in specific cases after stopListening() , if operating at 250KBPS data rate. + * + * @return Current value of status register + */ + uint8_t flush_tx(void); + + /** + * 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); - /** - * This function should be called as soon as transmission is finished to - * drop the radio back to STANDBY-I mode. If not issued, the radio will - * remain in STANDBY-II mode which, per the data sheet, is not a recommended - * operating mode. - * - * @note When transmitting data in rapid succession, it is still recommended by - * the manufacturer to drop the radio out of TX or STANDBY-II mode if there is - * time enough between sends for the FIFOs to empty. This is not required if auto-ack - * is enabled. - * - * Relies on built-in auto retry functionality. - * - * @code - * Example (Partial blocking): - * - * radio.writeFast(&buf,32); - * radio.writeFast(&buf,32); - * radio.writeFast(&buf,32); //Fills the FIFO buffers up - * bool ok = txStandBy(); //Returns 0 if failed. 1 if success. - * //Blocks only until MAX_RT timeout or success. Data flushed on fail. - * @endcode - * @see txStandBy(unsigned long timeout) - * @return True if transmission is successful - * - */ - bool txStandBy(); + /** + * 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. + * + * @code + * bool goodSignal = radio.testRPD(); + * if(radio.available()){ + * Serial.println(goodSignal ? "Strong signal > 64dBm" : "Weak signal < 64dBm" ); + * radio.read(0,0); + * } + * @endcode + * @return true if signal => -64dBm, false if not + */ + bool testRPD(void) ; + + /** + * Test whether this is a real radio, or a mock shim for + * debugging. Setting either pin to 0xff is the way to + * indicate that this is not a real radio. + * + * @return true if this is a legitimate radio + */ + bool isValid() { return ce_pin != 0xff && csn_pin != 0xff; } + + /** + * Close a pipe after it has been previously opened. + * Can be safely called without having previously opened a pipe. + * @param pipe Which pipe # to close, 0-5. + */ + void closeReadingPipe( uint8_t pipe ) ; - /** - * This function allows extended blocking and auto-retries per a user defined timeout - * @code - * Fully Blocking Example: - * - * radio.writeFast(&buf,32); - * radio.writeFast(&buf,32); - * radio.writeFast(&buf,32); //Fills the FIFO buffers up - * bool ok = txStandBy(1000); //Returns 0 if failed after 1 second of retries. 1 if success. - * //Blocks only until user defined timeout or success. Data flushed on fail. - * @endcode - * @note If used from within an interrupt, the interrupt should be disabled until completion, and sei(); called to enable millis(). - * @param timeout Number of milliseconds to retry failed payloads - * @return True if transmission is successful - * - */ - bool txStandBy(uint32_t timeout, bool startTx = 0); + /** + * Enable error detection by un-commenting #define FAILURE_HANDLING in RF24_config.h + * If a failure has been detected, it usually indicates a hardware issue. By default the library + * will cease operation when a failure is detected. + * This should allow advanced users to detect and resolve intermittent hardware issues. + * + * In most cases, the radio must be re-enabled via radio.begin(); and the appropriate settings + * applied after a failure occurs, if wanting to re-enable the device immediately. + * + * Usage: (Failure handling must be enabled per above) + * @code + * if(radio.failureDetected){ + * radio.begin(); // Attempt to re-configure the radio with defaults + * radio.failureDetected = 0; // Reset the detection value + * radio.openWritingPipe(addresses[1]); // Re-configure pipe addresses + * radio.openReadingPipe(1,addresses[0]); + * report_failure(); // Blink leds, send a message, etc. to indicate failure + * } + * @endcode + */ + //#if defined (FAILURE_HANDLING) + bool failureDetected; + //#endif + + /**@}*/ - /** - * 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. - * @see enableAckPayload() - * @see enableDynamicPayloads() - * @warning Only three of these can be pending at any time as there are only 3 FIFO buffers.<br> Dynamic payloads must be enabled. - * @note Ack payloads are handled automatically by the radio chip when a payload is received. Users should generally - * write an ack payload as soon as startListening() is called, so one is available when a regular payload is received. - * @note Ack payloads are dynamic payloads. This only works on pipes 0&1 by default. Call - * enableDynamicPayloads() to enable on all pipes. - * - * @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); + /**@}*/ + /** + * @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 address width from 3 to 5 bytes (24, 32 or 40 bit) + * + * @param a_width The address width to use: 3,4 or 5 + */ + void setAddressWidth(uint8_t a_width); + + /** + * 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, 0-125 + */ + void setChannel(uint8_t channel); + /** - * Determine if an ack payload was received in the most recent call to - * write(). The regular available() can also be used. - * - * Call read() to retrieve the ack payload. - * - * @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); + * Get RF communication channel + * + * @return The currently configured RF Channel + */ + uint8_t getChannel(void); - /** - * Non-blocking write to the open writing pipe used for buffered writes - * - * @note Optimization: This function now leaves the CE pin high, so the radio - * will remain in TX or STANDBY-II Mode until a txStandBy() command is issued. Can be used as an alternative to startWrite() - * if writing multiple payloads at once. - * @warning It is important to never keep the nRF24L01 in TX mode with FIFO full for more than 4ms at a time. If the auto - * retransmit/autoAck is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO - * to clear by issuing txStandBy() or ensure appropriate time between transmissions. - * - * @see write() - * @see writeFast() - * @see startWrite() - * @see writeBlocking() - * - * For single noAck writes see: - * @see enableDynamicAck() - * @see setAutoAck() - * - * @param buf Pointer to the data to be sent - * @param len Number of bytes to be sent - * @param multicast Request ACK (0) or NOACK (1) - * @return True if the payload was delivered successfully false if not - */ - void startFastWrite( const void* buf, uint8_t len, const bool multicast, bool startTx = 1 ); + /** + * 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); - /** - * 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 writeFast() - * @see startFastWrite() - * @see whatHappened() - * - * For single noAck writes see: - * @see enableDynamicAck() - * @see setAutoAck() - * - * @param buf Pointer to the data to be sent - * @param len Number of bytes to be sent - * @param multicast Request ACK (0) or NOACK (1) - * - */ - void startWrite( const void* buf, uint8_t len, const bool multicast ); + /** + * Get Static Payload Size + * + * @see setPayloadSize() + * + * @return The number of bytes in the payload + */ + uint8_t getPayloadSize(void); - /** - * This function is mainly used internally to take advantage of the auto payload - * re-use functionality of the chip, but can be beneficial to users as well. - * - * The function will instruct the radio to re-use the data in the FIFO buffers, - * and instructs the radio to re-send once the timeout limit has been reached. - * Used by writeFast and writeBlocking to initiate retries when a TX failure - * occurs. Retries are automatically initiated except with the standard write(). - * This way, data is not flushed from the buffer until switching between modes. - * - * @note This is to be used AFTER auto-retry fails if wanting to resend - * using the built-in payload reuse features. - * After issuing reUseTX(), it will keep reending the same payload forever or until - * a payload is written to the FIFO, or a flush_tx command is given. - */ - void reUseTX(); - - /** - * Empty the transmit buffer. This is generally not required in standard operation. - * May be required in specific cases after stopListening() , if operating at 250KBPS data rate. - * - * @return Current value of status register - */ - uint8_t flush_tx(void); + /** + * Get Dynamic Payload Size + * + * For dynamic payloads, this pulls the size of the payload off + * the chip + * + * @note Corrupt packets are now detected and flushed per the + * manufacturer. + * @code + * if(radio.available()){ + * if(radio.getDynamicPayloadSize() < 1){ + * // Corrupt payload has been flushed + * return; + * } + * radio.read(&data,sizeof(data)); + * } + * @endcode + * + * @return Payload length of last-received dynamic payload + */ + uint8_t getDynamicPayloadSize(void); - /** - * 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. - * - * @code - * bool goodSignal = radio.testRPD(); - * if(radio.available()){ - * Serial.println(goodSignal ? "Strong signal > 64dBm" : "Weak signal < 64dBm" ); - * radio.read(0,0); - * } - * @endcode - * @return true if signal => -64dBm, false if not - */ - bool testRPD(void) ; - - /** - * Test whether this is a real radio, or a mock shim for - * debugging. Setting either pin to 0xff is the way to - * indicate that this is not a real radio. - * - * @return true if this is a legitimate radio - */ - bool isValid() { - return ce_pin != 0xff && csn_pin != 0xff; - } - - /** - * Close a pipe after it has been previously opened. - * Can be safely called without having previously opened a pipe. - * @param pipe Which pipe # to close, 0-5. - */ - void closeReadingPipe( uint8_t pipe ) ; + /** + * 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. + * + * @note Ack payloads are dynamic payloads. This only works on pipes 0&1 by default. Call + * enableDynamicPayloads() to enable on all pipes. + */ + void enableAckPayload(void); - /** - * Enable error detection by un-commenting #define FAILURE_HANDLING in RF24_config.h - * If a failure has been detected, it usually indicates a hardware issue. By default the library - * will cease operation when a failure is detected. - * This should allow advanced users to detect and resolve intermittent hardware issues. - * - * In most cases, the radio must be re-enabled via radio.begin(); and the appropriate settings - * applied after a failure occurs, if wanting to re-enable the device immediately. - * - * Usage: (Failure handling must be enabled per above) - * @code - * if(radio.failureDetected){ - * radio.begin(); // Attempt to re-configure the radio with defaults - * radio.failureDetected = 0; // Reset the detection value - * radio.openWritingPipe(addresses[1]); // Re-configure pipe addresses - * radio.openReadingPipe(1,addresses[0]); - * report_failure(); // Blink leds, send a message, etc. to indicate failure - * } - * @endcode - */ - //#if defined (FAILURE_HANDLING) - bool failureDetected; - //#endif - - /**@}*/ + /** + * 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. + * + */ + void enableDynamicPayloads(void); + + /** + * Disable dynamically-sized payloads + * + * This disables dynamic payloads on ALL pipes. Since Ack Payloads + * requires Dynamic Payloads, Ack Payloads are also disabled. + * If dynamic payloads are later re-enabled and ack payloads are desired + * then enableAckPayload() must be called again as well. + * + */ + void disableDynamicPayloads(void); + + /** + * Enable dynamic ACKs (single write multicast or unicast) for chosen messages + * + * @note To enable full multicast or per-pipe multicast, use setAutoAck() + * + * @warning This MUST be called prior to attempting single write NOACK calls + * @code + * radio.enableDynamicAck(); + * radio.write(&data,32,1); // Sends a payload with no acknowledgement requested + * radio.write(&data,32,0); // Sends a payload using auto-retry/autoACK + * @endcode + */ + void enableDynamicAck(); + + /** + * 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) ; - /**@}*/ - /** - * @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 address width from 3 to 5 bytes (24, 32 or 40 bit) - * - * @param a_width The address width to use: 3,4 or 5 - */ - - void setAddressWidth(uint8_t a_width); - - /** - * 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, 0-125 - */ - void setChannel(uint8_t channel); + /** + * 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); - /** - * Get RF communication channel - * - * @return The currently configured RF Channel - */ - uint8_t getChannel(void); + /** + * 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 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); + /** + * Set Power Amplifier (PA) level to one of four levels: + * RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH and RF24_PA_MAX + * + * The power levels correspond to the following output levels respectively: + * NRF24L01: -18dBm, -12dBm,-6dBM, and 0dBm + * + * SI24R1: -6dBm, 0dBm, 3dBM, and 7dBm. + * + * @param level Desired PA level. + */ + void setPALevel ( uint8_t level ); - /** - * Get Dynamic Payload Size - * - * For dynamic payloads, this pulls the size of the payload off - * the chip - * - * @note Corrupt packets are now detected and flushed per the - * manufacturer. - * @code - * if(radio.available()){ - * if(radio.getDynamicPayloadSize() < 1){ - * // Corrupt payload has been flushed - * return; - * } - * radio.read(&data,sizeof(data)); - * } - * @endcode - * - * @return Payload length of last-received dynamic payload - */ - uint8_t getDynamicPayloadSize(void); + /** + * Fetches the current PA level. + * + * NRF24L01: -18dBm, -12dBm, -6dBm and 0dBm + * SI24R1: -6dBm, 0dBm, 3dBm, 7dBm + * + * @return Returns values 0 to 3 representing the PA Level. + */ + uint8_t getPALevel( 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. - * - * @note Ack payloads are dynamic payloads. This only works on pipes 0&1 by default. Call - * enableDynamicPayloads() to enable on all pipes. - */ - 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. - * - */ - void enableDynamicPayloads(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); - /** - * Enable dynamic ACKs (single write multicast or unicast) for chosen messages - * - * @note To enable full multicast or per-pipe multicast, use setAutoAck() - * - * @warning This MUST be called prior to attempting single write NOACK calls - * @code - * radio.enableDynamicAck(); - * radio.write(&data,32,1); // Sends a payload with no acknowledgement requested - * radio.write(&data,32,0); // Sends a payload using auto-retry/autoACK - * @endcode - */ - void enableDynamicAck(); + /** + * 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 ) ; - /** - * 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) ; + /** + * Set the CRC length + * <br>CRC checking cannot be disabled if auto-ack is enabled + * @param length RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit + */ + void setCRCLength(rf24_crclength_e length); - /** - * 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 ) ; + /** + * Get the CRC length + * <br>CRC checking cannot be disabled if auto-ack is enabled + * @return RF24_CRC_DISABLED if disabled or RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit + */ + rf24_crclength_e getCRCLength(void); - /** - * Set Power Amplifier (PA) level to one of four levels: - * RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH and RF24_PA_MAX - * - * The power levels correspond to the following output levels respectively: - * NRF24L01: -18dBm, -12dBm,-6dBM, and 0dBm - * - * SI24R1: -6dBm, 0dBm, 3dBM, and 7dBm. - * - * @param level Desired PA level. - */ - void setPALevel ( uint8_t level ); - - /** - * Fetches the current PA level. - * - * NRF24L01: -18dBm, -12dBm, -6dBm and 0dBm - * SI24R1: -6dBm, 0dBm, 3dBm, 7dBm - * - * @return Returns values 0 to 3 representing the PA Level. - */ - uint8_t 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); + /** + * Disable CRC validation + * + * @warning CRC cannot be disabled if auto-ack/ESB is enabled. + */ + void disableCRC( void ) ; - /** - * 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 - * <br>CRC checking cannot be disabled if auto-ack is enabled - * @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 - * <br>CRC checking cannot be disabled if auto-ack is enabled - * @return RF24_DISABLED if disabled or RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit - */ - rf24_crclength_e getCRCLength(void); + /** + * The radio will generate interrupt signals when a transmission is complete, + * a transmission fails, or a payload is received. This allows users to mask + * those interrupts to prevent them from generating a signal on the interrupt + * pin. Interrupts are enabled on the radio chip by default. + * + * @code + * Mask all interrupts except the receive interrupt: + * + * radio.maskIRQ(1,1,0); + * @endcode + * + * @param tx_ok Mask transmission complete interrupts + * @param tx_fail Mask transmit failure interrupts + * @param rx_ready Mask payload received interrupts + */ + void maskIRQ(bool tx_ok,bool tx_fail,bool rx_ready); + + /** + * + * The driver will delay for this duration when stopListening() is called + * + * When responding to payloads, faster devices like ARM(RPi) are much faster than Arduino: + * 1. Arduino sends data to RPi, switches to RX mode + * 2. The RPi receives the data, switches to TX mode and sends before the Arduino radio is in RX mode + * 3. If AutoACK is disabled, this can be set as low as 0. If AA/ESB enabled, set to 100uS minimum on RPi + * + * @warning If set to 0, ensure 130uS delay after stopListening() and before any sends + */ + + uint32_t txDelay; - /** - * Disable CRC validation - * - * @warning CRC cannot be disabled if auto-ack/ESB is enabled. - */ - void disableCRC( void ) ; - - /** - * The radio will generate interrupt signals when a transmission is complete, - * a transmission fails, or a payload is received. This allows users to mask - * those interrupts to prevent them from generating a signal on the interrupt - * pin. Interrupts are enabled on the radio chip by default. - * - * @code - * Mask all interrupts except the receive interrupt: - * - * radio.maskIRQ(1,1,0); - * @endcode - * - * @param tx_ok Mask transmission complete interrupts - * @param tx_fail Mask transmit failure interrupts - * @param rx_ready Mask payload received interrupts - */ - void maskIRQ(bool tx_ok,bool tx_fail,bool rx_ready); - - /**@}*/ - /** - * @name Deprecated - * - * Methods provided for backwards compabibility. - */ - /**@{*/ + /** + * + * On all devices but Linux and ATTiny, a small delay is added to the CSN toggling function + * + * This is intended to minimise the speed of SPI polling due to radio commands + * + * If using interrupts or timed requests, this can be set to 0 Default:5 + */ + + uint32_t csDelay; + + /**@}*/ + /** + * @name Deprecated + * + * Methods provided for backwards compabibility. + */ + /**@{*/ - /** - * Open a pipe for reading - * @note For compatibility with old code only, see new function - * - * @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(). - * - * @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); + /** + * Open a pipe for reading + * @note For compatibility with old code only, see new function + * + * @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(). + * + * @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); - /** - * Open a pipe for writing - * @note For compatibility with old code only, see new function - * - * Addresses are 40-bit hex values, e.g.: - * - * @code - * openWritingPipe(0xF0F0F0F0F0); - * @endcode - * - * @param address The 40-bit address of the pipe to open. - */ - void openWritingPipe(uint64_t address); + /** + * Open a pipe for writing + * @note For compatibility with old code only, see new function + * + * Addresses are 40-bit hex values, e.g.: + * + * @code + * openWritingPipe(0xF0F0F0F0F0); + * @endcode + * + * @param address The 40-bit address of the pipe to open. + */ + void openWritingPipe(uint64_t address); + + /** + * Empty the receive buffer + * + * @return Current value of status register + */ + uint8_t flush_rx(void); private: - /** - * @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. - */ - /**@{*/ + /** + * @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 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 csn(int mode); + /** + * 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(bool mode); - /** - * Set chip enable - * - * @param mode HIGH to take this unit off the SPI bus, LOW to put it on - */ - void ce(int level); + /** + * 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(bool 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 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); + /** + * 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 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 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, const uint8_t writeType); + /** + * 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, const uint8_t writeType); - /** - * 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); + /** + * 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); - /** - * Empty the receive buffer - * - * @return Current value of status register - */ - uint8_t flush_rx(void); + /** + * Retrieve the current status of the chip + * + * @return Current value of status register + */ + uint8_t get_status(void); - /** - * Retrieve the current status of the chip - * - * @return Current value of status register - */ - uint8_t get_status(void); + #if !defined (MINIMAL) + /** + * 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); -#if !defined (MINIMAL) - /** - * 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); + /** + * 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 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); + /** + * 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); #endif - /** - * 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); + /** + * 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); - /** - * Built in spi transfer function to simplify repeating code repeating code - */ - - uint8_t spiTrans(uint8_t cmd); + /** + * Built in spi transfer function to simplify repeating code repeating code + */ -#if defined (FAILURE_HANDLING) + uint8_t spiTrans(uint8_t cmd); + + #if defined (FAILURE_HANDLING) || defined (RF24_LINUX) void errNotify(void); -#endif - - /**@}*/ + #endif + + /**@}*/ }; #endif // __RF24_H__ -