Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.

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nRF24L01P.h

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00001 /**
00002  * @file nRF24L01P.h
00003  *
00004  * @author Owen Edwards
00005  * 
00006  * @section LICENSE
00007  *
00008  * Copyright (c) 2010 Owen Edwards
00009  *
00010  *    This program is free software: you can redistribute it and/or modify
00011  *    it under the terms of the GNU General Public License as published by
00012  *    the Free Software Foundation, either version 3 of the License, or
00013  *    (at your option) any later version.
00014  *
00015  *    This program is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *    GNU General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU General Public License
00021  *    along with this program.  If not, see <http://www.gnu.org/licenses/>.
00022  *
00023  * The above copyright notice and this permission notice shall be included in
00024  * all copies or substantial portions of the Software.
00025  *
00026  * @section DESCRIPTION
00027  *
00028  * nRF24L01+ Single Chip 2.4GHz Transceiver from Nordic Semiconductor.
00029  *
00030  * Datasheet:
00031  *
00032  * http://www.nordicsemi.no/files/Product/data_sheet/nRF24L01P_Product_Specification_1_0.pdf
00033  */
00034 
00035 #ifndef __NRF24L01P_H__
00036 #define __NRF24L01P_H__
00037 
00038 /**
00039  * Includes
00040  */
00041 #include "mbed.h"
00042 
00043 /**
00044  * Defines
00045  */
00046 #define NRF24L01P_TX_PWR_ZERO_DB         0
00047 #define NRF24L01P_TX_PWR_MINUS_6_DB     -6
00048 #define NRF24L01P_TX_PWR_MINUS_12_DB   -12
00049 #define NRF24L01P_TX_PWR_MINUS_18_DB   -18
00050 
00051 #define NRF24L01P_DATARATE_250_KBPS    250
00052 #define NRF24L01P_DATARATE_1_MBPS     1000
00053 #define NRF24L01P_DATARATE_2_MBPS     2000
00054 
00055 #define NRF24L01P_CRC_NONE               0
00056 #define NRF24L01P_CRC_8_BIT              8
00057 #define NRF24L01P_CRC_16_BIT            16
00058 
00059 #define NRF24L01P_MIN_RF_FREQUENCY    2400
00060 #define NRF24L01P_MAX_RF_FREQUENCY    2525
00061 
00062 #define NRF24L01P_PIPE_P0                0
00063 #define NRF24L01P_PIPE_P1                1
00064 #define NRF24L01P_PIPE_P2                2
00065 #define NRF24L01P_PIPE_P3                3
00066 #define NRF24L01P_PIPE_P4                4
00067 #define NRF24L01P_PIPE_P5                5
00068 
00069 /**
00070 * Default setup for the nRF24L01+, based on the Sparkfun "Nordic Serial Interface Board"
00071 *  for evaluation (http://www.sparkfun.com/products/9019)
00072 */
00073 #define DEFAULT_NRF24L01P_ADDRESS       ((unsigned long long) 0xE7E7E7E7E7 )
00074 #define DEFAULT_NRF24L01P_ADDRESS_WIDTH  5
00075 #define DEFAULT_NRF24L01P_CRC            NRF24L01P_CRC_8_BIT
00076 #define DEFAULT_NRF24L01P_RF_FREQUENCY  (NRF24L01P_MIN_RF_FREQUENCY + 2)
00077 #define DEFAULT_NRF24L01P_DATARATE       NRF24L01P_DATARATE_1_MBPS
00078 #define DEFAULT_NRF24L01P_TX_PWR         NRF24L01P_TX_PWR_ZERO_DB
00079 #define DEFAULT_NRF24L01P_TRANSFER_SIZE  4
00080 
00081 /**
00082  * nRF24L01+ Single Chip 2.4GHz Transceiver from Nordic Semiconductor.
00083  */
00084 class nRF24L01P {
00085 
00086 public:
00087 
00088     /**
00089      * Constructor.
00090      *
00091      * @param mosi mbed pin to use for MOSI line of SPI interface.
00092      * @param miso mbed pin to use for MISO line of SPI interface.
00093      * @param sck mbed pin to use for SCK line of SPI interface.
00094      * @param csn mbed pin to use for not chip select line of SPI interface.
00095      * @param ce mbed pin to use for the chip enable line.
00096      * @param irq mbed pin to use for the interrupt request line.
00097      */
00098     nRF24L01P(PinName mosi, PinName miso, PinName sck, PinName csn, PinName ce, PinName irq = NC);
00099 
00100     /**
00101      * Set the RF frequency.
00102      *
00103      * @param frequency the frequency of RF transmission in MHz (2400..2525).
00104      */
00105     void setRfFrequency(int frequency = DEFAULT_NRF24L01P_RF_FREQUENCY);
00106 
00107     /**
00108      * Get the RF frequency.
00109      *
00110      * @return the frequency of RF transmission in MHz (2400..2525).
00111      */
00112     int getRfFrequency(void);
00113 
00114     /**
00115      * Set the RF output power.
00116      *
00117      * @param power the RF output power in dBm (0, -6, -12 or -18).
00118      */
00119     void setRfOutputPower(int power = DEFAULT_NRF24L01P_TX_PWR);
00120 
00121     /**
00122      * Get the RF output power.
00123      *
00124      * @return the RF output power in dBm (0, -6, -12 or -18).
00125      */
00126     int getRfOutputPower(void);
00127 
00128     /**
00129      * Set the Air data rate.
00130      *
00131      * @param rate the air data rate in kbps (250, 1M or 2M).
00132      */
00133     void setAirDataRate(int rate = DEFAULT_NRF24L01P_DATARATE);
00134 
00135     /**
00136      * Get the Air data rate.
00137      *
00138      * @return the air data rate in kbps (250, 1M or 2M).
00139      */
00140     int getAirDataRate(void);
00141 
00142     /**
00143      * Set the CRC width.
00144      *
00145      * @param width the number of bits for the CRC (0, 8 or 16).
00146      */
00147     void setCrcWidth(int width = DEFAULT_NRF24L01P_CRC);
00148 
00149     /**
00150      * Get the CRC width.
00151      *
00152      * @return the number of bits for the CRC (0, 8 or 16).
00153      */
00154     int getCrcWidth(void);
00155 
00156     /**
00157      * Set the Receive address.
00158      *
00159      * @param address address associated with the particular pipe
00160      * @param width width of the address in bytes (3..5)
00161      * @param pipe pipe to associate the address with (0..5, default 0)
00162      *
00163      * Note that Pipes 0 & 1 have 3, 4 or 5 byte addresses,
00164      *  while Pipes 2..5 only use the lowest byte (bits 7..0) of the
00165      *  address provided here, and use 2, 3 or 4 bytes from Pipe 1's address.
00166      *  The width parameter is ignored for Pipes 2..5.
00167      */
00168     void setRxAddress(unsigned long long address = DEFAULT_NRF24L01P_ADDRESS, int width = DEFAULT_NRF24L01P_ADDRESS_WIDTH, int pipe = NRF24L01P_PIPE_P0);
00169 
00170     void setRxAddress(unsigned long msb_address, unsigned long lsb_address, int width, int pipe = NRF24L01P_PIPE_P0);
00171 
00172     /**
00173      * Set the Transmit address.
00174      *
00175      * @param address address for transmission
00176      * @param width width of the address in bytes (3..5)
00177      *
00178      * Note that the address width is shared with the Receive pipes,
00179      *  so a change to that address width affect transmissions.
00180      */
00181     void setTxAddress(unsigned long long address = DEFAULT_NRF24L01P_ADDRESS, int width = DEFAULT_NRF24L01P_ADDRESS_WIDTH);
00182 
00183     void setTxAddress(unsigned long msb_address, unsigned long lsb_address, int width);
00184 
00185     /**
00186      * Get the Receive address.
00187      *
00188      * @param pipe pipe to get the address from (0..5, default 0)
00189      * @return the address associated with the particular pipe
00190      */
00191     unsigned long long getRxAddress(int pipe = NRF24L01P_PIPE_P0);
00192 
00193     /**
00194      * Get the Transmit address.
00195      *
00196      * @return address address for transmission
00197      */
00198     unsigned long long getTxAddress(void);
00199 
00200     /**
00201      * Set the transfer size.
00202      *
00203      * @param size the size of the transfer, in bytes (1..32)
00204      * @param pipe pipe for the transfer (0..5, default 0)
00205      */
00206     void setTransferSize(int size = DEFAULT_NRF24L01P_TRANSFER_SIZE, int pipe = NRF24L01P_PIPE_P0);
00207 
00208     /**
00209      * Get the transfer size.
00210      *
00211      * @return the size of the transfer, in bytes (1..32).
00212      */
00213     int getTransferSize(int pipe = NRF24L01P_PIPE_P0);
00214 
00215 
00216     /**
00217      * Get the RPD (Received Power Detector) state.
00218      *
00219      * @return true if the received power exceeded -64dBm
00220      */
00221     bool getRPD(void);
00222 
00223     /**
00224      * Put the nRF24L01+ into Receive mode
00225      */
00226     void setReceiveMode(void);
00227 
00228     /**
00229      * Put the nRF24L01+ into Transmit mode
00230      */
00231     void setTransmitMode(void);
00232 
00233     /**
00234      * Power up the nRF24L01+ into Standby mode
00235      */
00236     void powerUp(void);
00237 
00238     /**
00239      * Power down the nRF24L01+ into Power Down mode
00240      */
00241     void powerDown(void);
00242 
00243     /**
00244      * Enable the nRF24L01+ to Receive or Transmit (using the CE pin)
00245      */
00246     void enable(void);
00247 
00248     /**
00249      * Disable the nRF24L01+ to Receive or Transmit (using the CE pin)
00250      */
00251     void disable(void);
00252 
00253     /**
00254      * Transmit data
00255      *
00256      * @param pipe is ignored (included for consistency with file write routine)
00257      * @param data pointer to an array of bytes to write
00258      * @param count the number of bytes to send (1..32)
00259      * @return the number of bytes actually written, or -1 for an error
00260      */
00261     int write(int pipe, char *data, int count);
00262     
00263     /**
00264      * Receive data
00265      *
00266      * @param pipe the receive pipe to get data from
00267      * @param data pointer to an array of bytes to store the received data
00268      * @param count the number of bytes to receive (1..32)
00269      * @return the number of bytes actually received, 0 if none are received, or -1 for an error
00270      */
00271     int read(int pipe, char *data, int count);
00272 
00273     /**
00274      * Determine if there is data available to read
00275      *
00276      * @param pipe the receive pipe to check for data
00277      * @return true if the is data waiting in the given pipe
00278      */
00279     bool readable(int pipe = NRF24L01P_PIPE_P0);
00280 
00281     /**
00282      * Disable all receive pipes
00283      *
00284      * Note: receive pipes are enabled when their address is set.
00285      */
00286     void disableAllRxPipes(void);
00287     
00288     /**
00289      * Disable AutoAcknowledge function
00290      */
00291     void disableAutoAcknowledge(void);
00292     
00293     /**
00294      * Enable AutoAcknowledge function
00295      *
00296      * @param pipe the receive pipe
00297      */
00298     void enableAutoAcknowledge(int pipe = NRF24L01P_PIPE_P0);
00299     
00300     /**
00301      * Disable AutoRetransmit function
00302      */
00303     void disableAutoRetransmit(void);
00304     
00305     /**
00306      * Enable AutoRetransmit function
00307      *
00308      * @param delay the delay between restransmits, in uS (250uS..4000uS)
00309      * @param count number of retransmits before generating an error (1..15)
00310      */
00311     void enableAutoRetransmit(int delay, int count);
00312 
00313 private:
00314 
00315     /**
00316      * Get the contents of an addressable register.
00317      *
00318      * @param regAddress address of the register
00319      * @return the contents of the register
00320      */
00321     int getRegister(int regAddress);
00322 
00323     /**
00324      * Set the contents of an addressable register.
00325      *
00326      * @param regAddress address of the register
00327      * @param regData data to write to the register
00328      */
00329     void setRegister(int regAddress, int regData);
00330 
00331     /**
00332      * Get the contents of the status register.
00333      *
00334      * @return the contents of the status register
00335      */
00336     int getStatusRegister(void);
00337 
00338     SPI         spi_;
00339     DigitalOut  nCS_;
00340     DigitalOut  ce_;
00341     InterruptIn nIRQ_;
00342 
00343     int mode;
00344 
00345 };
00346 
00347 #endif /* __NRF24L01P_H__ */
00348