Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.
Dependents: Mapping VirtualForces_debug OneFileToRuleThemAll VirtualForces_with_class ... more
Diff: nRF24L01P.cpp
- Revision:
- 1:8569ac717e68
- Parent:
- 0:15a30802e719
- Child:
- 2:0435d1171673
--- a/nRF24L01P.cpp Thu Feb 02 12:21:11 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1030 +0,0 @@ -/** - * @file nRF24L01P.cpp - * - * @author Owen Edwards - * - * @section LICENSE - * - * Copyright (c) 2010 Owen Edwards - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see <http://www.gnu.org/licenses/>. - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * @section DESCRIPTION - * - * nRF24L01+ Single Chip 2.4GHz Transceiver from Nordic Semiconductor. - * - * Datasheet: - * - * http://www.nordicsemi.no/files/Product/data_sheet/nRF24L01P_Product_Specification_1_0.pdf - */ - -/** - * Includes - */ -#include "nRF24L01P.h" - -/** - * Defines - * - * (Note that all defines here start with an underscore, e.g. '_NRF24L01P_MODE_UNKNOWN', - * and are local to this library. The defines in the nRF24L01P.h file do not start - * with the underscore, and can be used by code to access this library.) - */ - -typedef enum { - _NRF24L01P_MODE_UNKNOWN, - _NRF24L01P_MODE_POWER_DOWN, - _NRF24L01P_MODE_STANDBY, - _NRF24L01P_MODE_RX, - _NRF24L01P_MODE_TX, -} nRF24L01P_Mode_Type; - -/* - * The following FIFOs are present in nRF24L01+: - * TX three level, 32 byte FIFO - * RX three level, 32 byte FIFO - */ -#define _NRF24L01P_TX_FIFO_COUNT 3 -#define _NRF24L01P_RX_FIFO_COUNT 3 - -#define _NRF24L01P_TX_FIFO_SIZE 32 -#define _NRF24L01P_RX_FIFO_SIZE 32 - -#define _NRF24L01P_SPI_MAX_DATA_RATE 10000000 - -#define _NRF24L01P_SPI_CMD_RD_REG 0x00 -#define _NRF24L01P_SPI_CMD_WR_REG 0x20 -#define _NRF24L01P_SPI_CMD_RD_RX_PAYLOAD 0x61 -#define _NRF24L01P_SPI_CMD_WR_TX_PAYLOAD 0xa0 -#define _NRF24L01P_SPI_CMD_FLUSH_TX 0xe1 -#define _NRF24L01P_SPI_CMD_FLUSH_RX 0xe2 -#define _NRF24L01P_SPI_CMD_REUSE_TX_PL 0xe3 -#define _NRF24L01P_SPI_CMD_R_RX_PL_WID 0x60 -#define _NRF24L01P_SPI_CMD_W_ACK_PAYLOAD 0xa8 -#define _NRF24L01P_SPI_CMD_W_TX_PYLD_NO_ACK 0xb0 -#define _NRF24L01P_SPI_CMD_NOP 0xff - - -#define _NRF24L01P_REG_CONFIG 0x00 -#define _NRF24L01P_REG_EN_AA 0x01 -#define _NRF24L01P_REG_EN_RXADDR 0x02 -#define _NRF24L01P_REG_SETUP_AW 0x03 -#define _NRF24L01P_REG_SETUP_RETR 0x04 -#define _NRF24L01P_REG_RF_CH 0x05 -#define _NRF24L01P_REG_RF_SETUP 0x06 -#define _NRF24L01P_REG_STATUS 0x07 -#define _NRF24L01P_REG_OBSERVE_TX 0x08 -#define _NRF24L01P_REG_RPD 0x09 -#define _NRF24L01P_REG_RX_ADDR_P0 0x0a -#define _NRF24L01P_REG_RX_ADDR_P1 0x0b -#define _NRF24L01P_REG_RX_ADDR_P2 0x0c -#define _NRF24L01P_REG_RX_ADDR_P3 0x0d -#define _NRF24L01P_REG_RX_ADDR_P4 0x0e -#define _NRF24L01P_REG_RX_ADDR_P5 0x0f -#define _NRF24L01P_REG_TX_ADDR 0x10 -#define _NRF24L01P_REG_RX_PW_P0 0x11 -#define _NRF24L01P_REG_RX_PW_P1 0x12 -#define _NRF24L01P_REG_RX_PW_P2 0x13 -#define _NRF24L01P_REG_RX_PW_P3 0x14 -#define _NRF24L01P_REG_RX_PW_P4 0x15 -#define _NRF24L01P_REG_RX_PW_P5 0x16 -#define _NRF24L01P_REG_FIFO_STATUS 0x17 -#define _NRF24L01P_REG_DYNPD 0x1c -#define _NRF24L01P_REG_FEATURE 0x1d - -#define _NRF24L01P_REG_ADDRESS_MASK 0x1f - -// CONFIG register: -#define _NRF24L01P_CONFIG_PRIM_RX (1<<0) -#define _NRF24L01P_CONFIG_PWR_UP (1<<1) -#define _NRF24L01P_CONFIG_CRC0 (1<<2) -#define _NRF24L01P_CONFIG_EN_CRC (1<<3) -#define _NRF24L01P_CONFIG_MASK_MAX_RT (1<<4) -#define _NRF24L01P_CONFIG_MASK_TX_DS (1<<5) -#define _NRF24L01P_CONFIG_MASK_RX_DR (1<<6) - -#define _NRF24L01P_CONFIG_CRC_MASK (_NRF24L01P_CONFIG_EN_CRC|_NRF24L01P_CONFIG_CRC0) -#define _NRF24L01P_CONFIG_CRC_NONE (0) -#define _NRF24L01P_CONFIG_CRC_8BIT (_NRF24L01P_CONFIG_EN_CRC) -#define _NRF24L01P_CONFIG_CRC_16BIT (_NRF24L01P_CONFIG_EN_CRC|_NRF24L01P_CONFIG_CRC0) - -// EN_AA register: -#define _NRF24L01P_EN_AA_NONE 0 - -// EN_RXADDR register: -#define _NRF24L01P_EN_RXADDR_NONE 0 - -// SETUP_AW register: -#define _NRF24L01P_SETUP_AW_AW_MASK (0x3<<0) -#define _NRF24L01P_SETUP_AW_AW_3BYTE (0x1<<0) -#define _NRF24L01P_SETUP_AW_AW_4BYTE (0x2<<0) -#define _NRF24L01P_SETUP_AW_AW_5BYTE (0x3<<0) - -// SETUP_RETR register: -#define _NRF24L01P_SETUP_RETR_NONE 0 - -// RF_SETUP register: -#define _NRF24L01P_RF_SETUP_RF_PWR_MASK (0x3<<1) -#define _NRF24L01P_RF_SETUP_RF_PWR_0DBM (0x3<<1) -#define _NRF24L01P_RF_SETUP_RF_PWR_MINUS_6DBM (0x2<<1) -#define _NRF24L01P_RF_SETUP_RF_PWR_MINUS_12DBM (0x1<<1) -#define _NRF24L01P_RF_SETUP_RF_PWR_MINUS_18DBM (0x0<<1) - -#define _NRF24L01P_RF_SETUP_RF_DR_HIGH_BIT (1 << 3) -#define _NRF24L01P_RF_SETUP_RF_DR_LOW_BIT (1 << 5) -#define _NRF24L01P_RF_SETUP_RF_DR_MASK (_NRF24L01P_RF_SETUP_RF_DR_LOW_BIT|_NRF24L01P_RF_SETUP_RF_DR_HIGH_BIT) -#define _NRF24L01P_RF_SETUP_RF_DR_250KBPS (_NRF24L01P_RF_SETUP_RF_DR_LOW_BIT) -#define _NRF24L01P_RF_SETUP_RF_DR_1MBPS (0) -#define _NRF24L01P_RF_SETUP_RF_DR_2MBPS (_NRF24L01P_RF_SETUP_RF_DR_HIGH_BIT) - -// STATUS register: -#define _NRF24L01P_STATUS_TX_FULL (1<<0) -#define _NRF24L01P_STATUS_RX_P_NO (0x7<<1) -#define _NRF24L01P_STATUS_MAX_RT (1<<4) -#define _NRF24L01P_STATUS_TX_DS (1<<5) -#define _NRF24L01P_STATUS_RX_DR (1<<6) - -// RX_PW_P0..RX_PW_P5 registers: -#define _NRF24L01P_RX_PW_Px_MASK 0x3F - -#define _NRF24L01P_TIMING_Tundef2pd_us 100000 // 100mS -#define _NRF24L01P_TIMING_Tstby2a_us 130 // 130uS -#define _NRF24L01P_TIMING_Thce_us 10 // 10uS -#define _NRF24L01P_TIMING_Tpd2stby_us 4500 // 4.5mS worst case -#define _NRF24L01P_TIMING_Tpece2csn_us 4 // 4uS - -/** - * Methods - */ - -nRF24L01P::nRF24L01P(PinName mosi, - PinName miso, - PinName sck, - PinName csn, - PinName ce, - PinName irq) : spi_(mosi, miso, sck), nCS_(csn), ce_(ce), nIRQ_(irq) { - - mode = _NRF24L01P_MODE_UNKNOWN; - - disable(); - - nCS_ = 1; - - spi_.frequency(_NRF24L01P_SPI_MAX_DATA_RATE/5); // 2Mbit, 1/5th the maximum transfer rate for the SPI bus - spi_.format(8,0); // 8-bit, ClockPhase = 0, ClockPolarity = 0 - - wait_us(_NRF24L01P_TIMING_Tundef2pd_us); // Wait for Power-on reset - - setRegister(_NRF24L01P_REG_CONFIG, 0); // Power Down - - setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_MAX_RT|_NRF24L01P_STATUS_TX_DS|_NRF24L01P_STATUS_RX_DR); // Clear any pending interrupts - - // - // Setup default configuration - // - disableAllRxPipes(); - setRfFrequency(); - setRfOutputPower(); - setAirDataRate(); - setCrcWidth(); - setTxAddress(); - setRxAddress(); - disableAutoAcknowledge(); - disableAutoRetransmit(); - setTransferSize(); - - mode = _NRF24L01P_MODE_POWER_DOWN; - -} - - -void nRF24L01P::powerUp(void) { - - int config = getRegister(_NRF24L01P_REG_CONFIG); - - config |= _NRF24L01P_CONFIG_PWR_UP; - - setRegister(_NRF24L01P_REG_CONFIG, config); - - // Wait until the nRF24L01+ powers up - wait_us( _NRF24L01P_TIMING_Tpd2stby_us ); - - mode = _NRF24L01P_MODE_STANDBY; - -} - - -void nRF24L01P::powerDown(void) { - - int config = getRegister(_NRF24L01P_REG_CONFIG); - - config &= ~_NRF24L01P_CONFIG_PWR_UP; - - setRegister(_NRF24L01P_REG_CONFIG, config); - - // Wait until the nRF24L01+ powers down - wait_us( _NRF24L01P_TIMING_Tpd2stby_us ); // This *may* not be necessary (no timing is shown in the Datasheet), but just to be safe - - mode = _NRF24L01P_MODE_POWER_DOWN; - -} - - -void nRF24L01P::setReceiveMode(void) { - - if ( _NRF24L01P_MODE_POWER_DOWN == mode ) powerUp(); - - int config = getRegister(_NRF24L01P_REG_CONFIG); - - config |= _NRF24L01P_CONFIG_PRIM_RX; - - setRegister(_NRF24L01P_REG_CONFIG, config); - - mode = _NRF24L01P_MODE_RX; - -} - - -void nRF24L01P::setTransmitMode(void) { - - if ( _NRF24L01P_MODE_POWER_DOWN == mode ) powerUp(); - - int config = getRegister(_NRF24L01P_REG_CONFIG); - - config &= ~_NRF24L01P_CONFIG_PRIM_RX; - - setRegister(_NRF24L01P_REG_CONFIG, config); - - mode = _NRF24L01P_MODE_TX; - -} - - -void nRF24L01P::enable(void) { - - ce_ = 1; - wait_us( _NRF24L01P_TIMING_Tpece2csn_us ); - -} - - -void nRF24L01P::disable(void) { - - ce_ = 0; - -} - -void nRF24L01P::setRfFrequency(int frequency) { - - if ( ( frequency < NRF24L01P_MIN_RF_FREQUENCY ) || ( frequency > NRF24L01P_MAX_RF_FREQUENCY ) ) { - - error( "nRF24L01P: Invalid RF Frequency setting %d\r\n", frequency ); - return; - - } - - int channel = ( frequency - NRF24L01P_MIN_RF_FREQUENCY ) & 0x7F; - - setRegister(_NRF24L01P_REG_RF_CH, channel); - -} - - -int nRF24L01P::getRfFrequency(void) { - - int channel = getRegister(_NRF24L01P_REG_RF_CH) & 0x7F; - - return ( channel + NRF24L01P_MIN_RF_FREQUENCY ); - -} - - -void nRF24L01P::setRfOutputPower(int power) { - - int rfSetup = getRegister(_NRF24L01P_REG_RF_SETUP) & ~_NRF24L01P_RF_SETUP_RF_PWR_MASK; - - switch ( power ) { - - case NRF24L01P_TX_PWR_ZERO_DB: - rfSetup |= _NRF24L01P_RF_SETUP_RF_PWR_0DBM; - break; - - case NRF24L01P_TX_PWR_MINUS_6_DB: - rfSetup |= _NRF24L01P_RF_SETUP_RF_PWR_MINUS_6DBM; - break; - - case NRF24L01P_TX_PWR_MINUS_12_DB: - rfSetup |= _NRF24L01P_RF_SETUP_RF_PWR_MINUS_12DBM; - break; - - case NRF24L01P_TX_PWR_MINUS_18_DB: - rfSetup |= _NRF24L01P_RF_SETUP_RF_PWR_MINUS_18DBM; - break; - - default: - error( "nRF24L01P: Invalid RF Output Power setting %d\r\n", power ); - return; - - } - - setRegister(_NRF24L01P_REG_RF_SETUP, rfSetup); - -} - - -int nRF24L01P::getRfOutputPower(void) { - - int rfPwr = getRegister(_NRF24L01P_REG_RF_SETUP) & _NRF24L01P_RF_SETUP_RF_PWR_MASK; - - switch ( rfPwr ) { - - case _NRF24L01P_RF_SETUP_RF_PWR_0DBM: - return NRF24L01P_TX_PWR_ZERO_DB; - - case _NRF24L01P_RF_SETUP_RF_PWR_MINUS_6DBM: - return NRF24L01P_TX_PWR_MINUS_6_DB; - - case _NRF24L01P_RF_SETUP_RF_PWR_MINUS_12DBM: - return NRF24L01P_TX_PWR_MINUS_12_DB; - - case _NRF24L01P_RF_SETUP_RF_PWR_MINUS_18DBM: - return NRF24L01P_TX_PWR_MINUS_18_DB; - - default: - error( "nRF24L01P: Unknown RF Output Power value %d\r\n", rfPwr ); - return 0; - - } -} - - -void nRF24L01P::setAirDataRate(int rate) { - - int rfSetup = getRegister(_NRF24L01P_REG_RF_SETUP) & ~_NRF24L01P_RF_SETUP_RF_DR_MASK; - - switch ( rate ) { - - case NRF24L01P_DATARATE_250_KBPS: - rfSetup |= _NRF24L01P_RF_SETUP_RF_DR_250KBPS; - break; - - case NRF24L01P_DATARATE_1_MBPS: - rfSetup |= _NRF24L01P_RF_SETUP_RF_DR_1MBPS; - break; - - case NRF24L01P_DATARATE_2_MBPS: - rfSetup |= _NRF24L01P_RF_SETUP_RF_DR_2MBPS; - break; - - default: - error( "nRF24L01P: Invalid Air Data Rate setting %d\r\n", rate ); - return; - - } - - setRegister(_NRF24L01P_REG_RF_SETUP, rfSetup); - -} - - -int nRF24L01P::getAirDataRate(void) { - - int rfDataRate = getRegister(_NRF24L01P_REG_RF_SETUP) & _NRF24L01P_RF_SETUP_RF_DR_MASK; - - switch ( rfDataRate ) { - - case _NRF24L01P_RF_SETUP_RF_DR_250KBPS: - return NRF24L01P_DATARATE_250_KBPS; - - case _NRF24L01P_RF_SETUP_RF_DR_1MBPS: - return NRF24L01P_DATARATE_1_MBPS; - - case _NRF24L01P_RF_SETUP_RF_DR_2MBPS: - return NRF24L01P_DATARATE_2_MBPS; - - default: - error( "nRF24L01P: Unknown Air Data Rate value %d\r\n", rfDataRate ); - return 0; - - } -} - - -void nRF24L01P::setCrcWidth(int width) { - - int config = getRegister(_NRF24L01P_REG_CONFIG) & ~_NRF24L01P_CONFIG_CRC_MASK; - - switch ( width ) { - - case NRF24L01P_CRC_NONE: - config |= _NRF24L01P_CONFIG_CRC_NONE; - break; - - case NRF24L01P_CRC_8_BIT: - config |= _NRF24L01P_CONFIG_CRC_8BIT; - break; - - case NRF24L01P_CRC_16_BIT: - config |= _NRF24L01P_CONFIG_CRC_16BIT; - break; - - default: - error( "nRF24L01P: Invalid CRC Width setting %d\r\n", width ); - return; - - } - - setRegister(_NRF24L01P_REG_CONFIG, config); - -} - - -int nRF24L01P::getCrcWidth(void) { - - int crcWidth = getRegister(_NRF24L01P_REG_CONFIG) & _NRF24L01P_CONFIG_CRC_MASK; - - switch ( crcWidth ) { - - case _NRF24L01P_CONFIG_CRC_NONE: - return NRF24L01P_CRC_NONE; - - case _NRF24L01P_CONFIG_CRC_8BIT: - return NRF24L01P_CRC_8_BIT; - - case _NRF24L01P_CONFIG_CRC_16BIT: - return NRF24L01P_CRC_16_BIT; - - default: - error( "nRF24L01P: Unknown CRC Width value %d\r\n", crcWidth ); - return 0; - - } -} - - -void nRF24L01P::setTransferSize(int size, int pipe) { - - if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { - - error( "nRF24L01P: Invalid Transfer Size pipe number %d\r\n", pipe ); - return; - - } - - if ( ( size < 0 ) || ( size > _NRF24L01P_RX_FIFO_SIZE ) ) { - - error( "nRF24L01P: Invalid Transfer Size setting %d\r\n", size ); - return; - - } - - int rxPwPxRegister = _NRF24L01P_REG_RX_PW_P0 + ( pipe - NRF24L01P_PIPE_P0 ); - - setRegister(rxPwPxRegister, ( size & _NRF24L01P_RX_PW_Px_MASK ) ); - -} - - -int nRF24L01P::getTransferSize(int pipe) { - - if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { - - error( "nRF24L01P: Invalid Transfer Size pipe number %d\r\n", pipe ); - return 0; - - } - - int rxPwPxRegister = _NRF24L01P_REG_RX_PW_P0 + ( pipe - NRF24L01P_PIPE_P0 ); - - int size = getRegister(rxPwPxRegister); - - return ( size & _NRF24L01P_RX_PW_Px_MASK ); - -} - - -void nRF24L01P::disableAllRxPipes(void) { - - setRegister(_NRF24L01P_REG_EN_RXADDR, _NRF24L01P_EN_RXADDR_NONE); - -} - - -void nRF24L01P::disableAutoAcknowledge(void) { - - setRegister(_NRF24L01P_REG_EN_AA, _NRF24L01P_EN_AA_NONE); - -} - - -void nRF24L01P::enableAutoAcknowledge(int pipe) { - - if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { - - error( "nRF24L01P: Invalid Enable AutoAcknowledge pipe number %d\r\n", pipe ); - return; - - } - - int enAA = getRegister(_NRF24L01P_REG_EN_AA); - - enAA |= ( 1 << (pipe - NRF24L01P_PIPE_P0) ); - - setRegister(_NRF24L01P_REG_EN_AA, enAA); - -} - - -void nRF24L01P::disableAutoRetransmit(void) { - - setRegister(_NRF24L01P_REG_SETUP_RETR, _NRF24L01P_SETUP_RETR_NONE); - -} - -void nRF24L01P::setRxAddress(unsigned long long address, int width, int pipe) { - - if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { - - error( "nRF24L01P: Invalid setRxAddress pipe number %d\r\n", pipe ); - return; - - } - - if ( ( pipe == NRF24L01P_PIPE_P0 ) || ( pipe == NRF24L01P_PIPE_P1 ) ) { - - int setupAw = getRegister(_NRF24L01P_REG_SETUP_AW) & ~_NRF24L01P_SETUP_AW_AW_MASK; - - switch ( width ) { - - case 3: - setupAw |= _NRF24L01P_SETUP_AW_AW_3BYTE; - break; - - case 4: - setupAw |= _NRF24L01P_SETUP_AW_AW_4BYTE; - break; - - case 5: - setupAw |= _NRF24L01P_SETUP_AW_AW_5BYTE; - break; - - default: - error( "nRF24L01P: Invalid setRxAddress width setting %d\r\n", width ); - return; - - } - - setRegister(_NRF24L01P_REG_SETUP_AW, setupAw); - - } else { - - width = 1; - - } - - int rxAddrPxRegister = _NRF24L01P_REG_RX_ADDR_P0 + ( pipe - NRF24L01P_PIPE_P0 ); - - int cn = (_NRF24L01P_SPI_CMD_WR_REG | (rxAddrPxRegister & _NRF24L01P_REG_ADDRESS_MASK)); - - nCS_ = 0; - - int status = spi_.write(cn); - - while ( width-- > 0 ) { - - // - // LSByte first - // - spi_.write((int) (address & 0xFF)); - address >>= 8; - - } - - nCS_ = 1; - - int enRxAddr = getRegister(_NRF24L01P_REG_EN_RXADDR); - - enRxAddr |= (1 << ( pipe - NRF24L01P_PIPE_P0 ) ); - - setRegister(_NRF24L01P_REG_EN_RXADDR, enRxAddr); -} - -/* - * This version of setRxAddress is just a wrapper for the version that takes 'long long's, - * in case the main code doesn't want to deal with long long's. - */ -void nRF24L01P::setRxAddress(unsigned long msb_address, unsigned long lsb_address, int width, int pipe) { - - unsigned long long address = ( ( (unsigned long long) msb_address ) << 32 ) | ( ( (unsigned long long) lsb_address ) << 0 ); - - setRxAddress(address, width, pipe); - -} - - -/* - * This version of setTxAddress is just a wrapper for the version that takes 'long long's, - * in case the main code doesn't want to deal with long long's. - */ -void nRF24L01P::setTxAddress(unsigned long msb_address, unsigned long lsb_address, int width) { - - unsigned long long address = ( ( (unsigned long long) msb_address ) << 32 ) | ( ( (unsigned long long) lsb_address ) << 0 ); - - setTxAddress(address, width); - -} - - -void nRF24L01P::setTxAddress(unsigned long long address, int width) { - - int setupAw = getRegister(_NRF24L01P_REG_SETUP_AW) & ~_NRF24L01P_SETUP_AW_AW_MASK; - - switch ( width ) { - - case 3: - setupAw |= _NRF24L01P_SETUP_AW_AW_3BYTE; - break; - - case 4: - setupAw |= _NRF24L01P_SETUP_AW_AW_4BYTE; - break; - - case 5: - setupAw |= _NRF24L01P_SETUP_AW_AW_5BYTE; - break; - - default: - error( "nRF24L01P: Invalid setTxAddress width setting %d\r\n", width ); - return; - - } - - setRegister(_NRF24L01P_REG_SETUP_AW, setupAw); - - int cn = (_NRF24L01P_SPI_CMD_WR_REG | (_NRF24L01P_REG_TX_ADDR & _NRF24L01P_REG_ADDRESS_MASK)); - - nCS_ = 0; - - int status = spi_.write(cn); - - while ( width-- > 0 ) { - - // - // LSByte first - // - spi_.write((int) (address & 0xFF)); - address >>= 8; - - } - - nCS_ = 1; - -} - - -unsigned long long nRF24L01P::getRxAddress(int pipe) { - - if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { - - error( "nRF24L01P: Invalid setRxAddress pipe number %d\r\n", pipe ); - return 0; - - } - - int width; - - if ( ( pipe == NRF24L01P_PIPE_P0 ) || ( pipe == NRF24L01P_PIPE_P1 ) ) { - - int setupAw = getRegister(_NRF24L01P_REG_SETUP_AW) & _NRF24L01P_SETUP_AW_AW_MASK; - - switch ( setupAw ) { - - case _NRF24L01P_SETUP_AW_AW_3BYTE: - width = 3; - break; - - case _NRF24L01P_SETUP_AW_AW_4BYTE: - width = 4; - break; - - case _NRF24L01P_SETUP_AW_AW_5BYTE: - width = 5; - break; - - default: - error( "nRF24L01P: Unknown getRxAddress width value %d\r\n", setupAw ); - return 0; - - } - - } else { - - width = 1; - - } - - int rxAddrPxRegister = _NRF24L01P_REG_RX_ADDR_P0 + ( pipe - NRF24L01P_PIPE_P0 ); - - int cn = (_NRF24L01P_SPI_CMD_RD_REG | (rxAddrPxRegister & _NRF24L01P_REG_ADDRESS_MASK)); - - unsigned long long address = 0; - - nCS_ = 0; - - int status = spi_.write(cn); - - for ( int i=0; i<width; i++ ) { - - // - // LSByte first - // - address |= ( ( (unsigned long long)( spi_.write(_NRF24L01P_SPI_CMD_NOP) & 0xFF ) ) << (i*8) ); - - } - - nCS_ = 1; - - if ( !( ( pipe == NRF24L01P_PIPE_P0 ) || ( pipe == NRF24L01P_PIPE_P1 ) ) ) { - - address |= ( getRxAddress(NRF24L01P_PIPE_P1) & ~((unsigned long long) 0xFF) ); - - } - - return address; - -} - - -unsigned long long nRF24L01P::getTxAddress(void) { - - int setupAw = getRegister(_NRF24L01P_REG_SETUP_AW) & _NRF24L01P_SETUP_AW_AW_MASK; - - int width; - - switch ( setupAw ) { - - case _NRF24L01P_SETUP_AW_AW_3BYTE: - width = 3; - break; - - case _NRF24L01P_SETUP_AW_AW_4BYTE: - width = 4; - break; - - case _NRF24L01P_SETUP_AW_AW_5BYTE: - width = 5; - break; - - default: - error( "nRF24L01P: Unknown getTxAddress width value %d\r\n", setupAw ); - return 0; - - } - - int cn = (_NRF24L01P_SPI_CMD_RD_REG | (_NRF24L01P_REG_TX_ADDR & _NRF24L01P_REG_ADDRESS_MASK)); - - unsigned long long address = 0; - - nCS_ = 0; - - int status = spi_.write(cn); - - for ( int i=0; i<width; i++ ) { - - // - // LSByte first - // - address |= ( ( (unsigned long long)( spi_.write(_NRF24L01P_SPI_CMD_NOP) & 0xFF ) ) << (i*8) ); - - } - - nCS_ = 1; - - return address; -} - - -bool nRF24L01P::readable(int pipe) { - - if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { - - error( "nRF24L01P: Invalid readable pipe number %d\r\n", pipe ); - return false; - - } - - int status = getStatusRegister(); - - return ( ( status & _NRF24L01P_STATUS_RX_DR ) && ( ( ( status & _NRF24L01P_STATUS_RX_P_NO ) >> 1 ) == ( pipe & 0x7 ) ) ); - -} - - -int nRF24L01P::write(int pipe, char *data, int count) { - - // Note: the pipe number is ignored in a Transmit / write - - // - // Save the CE state - // - int originalCe = ce_; - disable(); - - if ( count <= 0 ) return 0; - - if ( count > _NRF24L01P_TX_FIFO_SIZE ) count = _NRF24L01P_TX_FIFO_SIZE; - - // Clear the Status bit - setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_TX_DS); - - nCS_ = 0; - - int status = spi_.write(_NRF24L01P_SPI_CMD_WR_TX_PAYLOAD); - - for ( int i = 0; i < count; i++ ) { - - spi_.write(*data++); - - } - - nCS_ = 1; - - int originalMode = mode; - setTransmitMode(); - - enable(); - wait_us(_NRF24L01P_TIMING_Thce_us); - disable(); - - // while ( !( getStatusRegister() & _NRF24L01P_STATUS_TX_DS ) ) { - - // Wait for the transfer to complete - - // } - - // Clear the Status bit - setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_TX_DS); - - if ( originalMode == _NRF24L01P_MODE_RX ) { - - setReceiveMode(); - - } - - ce_ = originalCe; - wait_us( _NRF24L01P_TIMING_Tpece2csn_us ); - - return count; - -} - - -int nRF24L01P::read(int pipe, char *data, int count) { - - if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { - - error( "nRF24L01P: Invalid read pipe number %d\r\n", pipe ); - return -1; - - } - - if ( count <= 0 ) return 0; - - if ( count > _NRF24L01P_RX_FIFO_SIZE ) count = _NRF24L01P_RX_FIFO_SIZE; - - if ( readable(pipe) ) { - - nCS_ = 0; - - int status = spi_.write(_NRF24L01P_SPI_CMD_R_RX_PL_WID); - - int rxPayloadWidth = spi_.write(_NRF24L01P_SPI_CMD_NOP); - - nCS_ = 1; - - if ( ( rxPayloadWidth < 0 ) || ( rxPayloadWidth > _NRF24L01P_RX_FIFO_SIZE ) ) { - - // Received payload error: need to flush the FIFO - - nCS_ = 0; - - int status = spi_.write(_NRF24L01P_SPI_CMD_FLUSH_RX); - - int rxPayloadWidth = spi_.write(_NRF24L01P_SPI_CMD_NOP); - - nCS_ = 1; - - // - // At this point, we should retry the reception, - // but for now we'll just fall through... - // - - } else { - - if ( rxPayloadWidth < count ) count = rxPayloadWidth; - - nCS_ = 0; - - int status = spi_.write(_NRF24L01P_SPI_CMD_RD_RX_PAYLOAD); - - for ( int i = 0; i < count; i++ ) { - - *data++ = spi_.write(_NRF24L01P_SPI_CMD_NOP); - - } - - nCS_ = 1; - - // Clear the Status bit - setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_RX_DR); - - return count; - - } - - } else { - - // - // What should we do if there is no 'readable' data? - // We could wait for data to arrive, but for now, we'll - // just return with no data. - // - return 0; - - } - - // - // We get here because an error condition occured; - // We could wait for data to arrive, but for now, we'll - // just return with no data. - // - return -1; - -} - -void nRF24L01P::setRegister(int regAddress, int regData) { - - // - // Save the CE state - // - int originalCe = ce_; - disable(); - - int cn = (_NRF24L01P_SPI_CMD_WR_REG | (regAddress & _NRF24L01P_REG_ADDRESS_MASK)); - - nCS_ = 0; - - int status = spi_.write(cn); - - spi_.write(regData & 0xFF); - - nCS_ = 1; - - ce_ = originalCe; - wait_us( _NRF24L01P_TIMING_Tpece2csn_us ); - -} - - -int nRF24L01P::getRegister(int regAddress) { - - int cn = (_NRF24L01P_SPI_CMD_RD_REG | (regAddress & _NRF24L01P_REG_ADDRESS_MASK)); - - nCS_ = 0; - - int status = spi_.write(cn); - - int dn = spi_.write(_NRF24L01P_SPI_CMD_NOP); - - nCS_ = 1; - - return dn; - -} - -int nRF24L01P::getStatusRegister(void) { - - nCS_ = 0; - - int status = spi_.write(_NRF24L01P_SPI_CMD_NOP); - - nCS_ = 1; - - return status; - -} -