Maniacbug's RF24 arduino library ported to mbed. Tested, it works for Nucleo F411
Dependents: RF24Network_Send RF24Network_Receive maple_chotobot_rf_motores Thesis_Verzender ... more
Diff: RF24Network.cpp
- Revision:
- 2:a5f8e04bd02b
- Parent:
- 1:caf146ffe8b0
- Child:
- 3:dfc8da7ac18c
diff -r caf146ffe8b0 -r a5f8e04bd02b RF24Network.cpp --- a/RF24Network.cpp Mon Jul 06 05:18:22 2015 +0000 +++ b/RF24Network.cpp Thu Nov 05 05:40:44 2015 +0000 @@ -7,279 +7,1031 @@ */ #include "RF24Network_config.h" + + + + + + + + + + + + + + + #include <RF24.h> #include "RF24Network.h" -uint16_t RF24NetworkHeader::next_id = 1; + + + + + + + +uint16_t RF24NetworkHeader::next_id = 1; +#if defined ENABLE_NETWORK_STATS +uint32_t RF24Network::nFails = 0; +uint32_t RF24Network::nOK = 0; +#endif uint64_t pipe_address( uint16_t node, uint8_t pipe ); +#if defined (RF24NetworkMulticast) +uint16_t levelToAddress( uint8_t level ); +#endif bool is_valid_address( uint16_t node ); /******************************************************************/ -RF24Network::RF24Network( RF24& _radio ): radio(_radio), next_frame(frame_queue) + + + + + + + +#if !defined (DUAL_HEAD_RADIO) +RF24Network::RF24Network( RF24& _radio ): radio(_radio), next_frame(frame_queue) { + #if !defined ( DISABLE_FRAGMENTATION ) + frag_queue.message_buffer=&frag_queue_message_buffer[0]; + frag_ptr = &frag_queue; + #endif } - +#else +RF24Network::RF24Network( RF24& _radio, RF24& _radio1 ): radio(_radio), radio1(_radio1), next_frame(frame_queue) +{ + #if !defined ( DISABLE_FRAGMENTATION ) + frag_queue.message_buffer=&frag_queue_message_buffer[0]; + frag_ptr = &frag_queue; + #endif +} +#endif /******************************************************************/ void RF24Network::begin(uint8_t _channel, uint16_t _node_address ) { - if (! is_valid_address(_node_address) ) +rf24netTimer.start(); +if (! is_valid_address(_node_address) ) return; + + node_address = _node_address; - node_address = _node_address; + if ( ! radio.isValid() ){ + return; + } // Set up the radio the way we want it to look - radio.setChannel(_channel); - radio.setDataRate(RF24_1MBPS); - radio.setCRCLength(RF24_CRC_16); - - // Setup Auto ack enabled as it is required by nodes - radio.setAutoAck(1); - + if(_channel != USE_CURRENT_CHANNEL){ + radio.setChannel(_channel); + } + //radio.enableDynamicAck(); + radio.setAutoAck(0,0); + + #if defined (ENABLE_DYNAMIC_PAYLOADS) + radio.enableDynamicPayloads(); + #endif + + // Use different retry periods to reduce data collisions + uint8_t retryVar = (((node_address % 6)+1) *2) + 3; + radio.setRetries(retryVar, 5); + txTimeout = 25; + routeTimeout = txTimeout*9; // Adjust for max delay per node + + +#if defined (DUAL_HEAD_RADIO) + radio1.setChannel(_channel); + radio1.enableDynamicAck(); + radio1.enableDynamicPayloads(); +#endif + // Setup our address helper cache setup_address(); - + // Open up all listening pipes - int i = 6; - while (i--) - radio.openReadingPipe(i,pipe_address(_node_address,i)); + uint8_t i = 6; + while (i--){ + radio.openReadingPipe(i,pipe_address(_node_address,i)); + } radio.startListening(); - - // Spew debugging state about the radio - radio.printDetails(); + } /******************************************************************/ -void RF24Network::update(void) +#if defined ENABLE_NETWORK_STATS +void RF24Network::failures(uint32_t *_fails, uint32_t *_ok){ + *_fails = nFails; + *_ok = nOK; +} +#endif + +/******************************************************************/ + +uint8_t RF24Network::update(void) { // if there is data ready uint8_t pipe_num; - while ( radio.available(&pipe_num) ) - { - // Dump the payloads until we've gotten everything - bool done = false; - while (!done) - { - // Fetch the payload, and see if this was the last one. - done = radio.read( frame_buffer, sizeof(frame_buffer) ); + uint8_t returnVal = 0; + + // If bypass is enabled, continue although incoming user data may be dropped + // Allows system payloads to be read while user cache is full + // Incoming Hold prevents data from being read from the radio, preventing incoming payloads from being acked + + + if(!(networkFlags & FLAG_BYPASS_HOLDS)){ + if( (networkFlags & FLAG_HOLD_INCOMING) || (next_frame-frame_queue) + 34 > MAIN_BUFFER_SIZE ){ + if(!available()){ + networkFlags &= ~FLAG_HOLD_INCOMING; + }else{ + return 0; + } + } + } + + + while ( radio.isValid() && radio.available(&pipe_num) ){ + #if defined (ENABLE_DYNAMIC_PAYLOADS) + if( (frame_size = radio.getDynamicPayloadSize() ) < sizeof(RF24NetworkHeader)){ + wait_ms(10); + continue; + } + #else + frame_size=32; + #endif + // Dump the payloads until we've gotten everything + // Fetch the payload, and see if this was the last one. + radio.read( frame_buffer, frame_size ); + // Read the beginning of the frame as the header - const RF24NetworkHeader& header = * reinterpret_cast<RF24NetworkHeader*>(frame_buffer); + RF24NetworkHeader *header = (RF24NetworkHeader*)(&frame_buffer); + - //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Received on %u %s\n\r"),millis(),pipe_num,header.toString())); - //IF_SERIAL_DEBUG(const uint16_t* i = reinterpret_cast<const uint16_t*>(frame_buffer + sizeof(RF24NetworkHeader));printf_P(PSTR("%lu: NET message %04x\n\r"),millis(),*i)); + + + + + + + IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Received on %u %s\n\r"),millis(),pipe_num,header->toString())); + IF_SERIAL_DEBUG(const uint16_t* i = reinterpret_cast<const uint16_t*>(frame_buffer + sizeof(RF24NetworkHeader));printf_P(PSTR("%lu: NET message %04x\n\r"),millis(),*i)); + // Throw it away if it's not a valid address - if ( !is_valid_address(header.to_node) ) - continue; + if ( !is_valid_address(header->to_node) ){ + continue; + } + + uint8_t returnVal = header->type; // Is this for us? - if ( header.to_node == node_address ) - // Add it to the buffer of frames for us - enqueue(); - else - // Relay it - write(header.to_node); - - // NOT NEEDED anymore. Now all reading pipes are open to start. -#if 0 - // If this was for us, from one of our children, but on our listening - // pipe, it could mean that we are not listening to them. If so, open up - // and listen to their talking pipe + if ( header->to_node == node_address ){ + + if(header->type == NETWORK_PING){ + continue; + } + if(header->type == NETWORK_ADDR_RESPONSE ){ + uint16_t requester = frame_buffer[8]; + requester |= frame_buffer[9] << 8; + if(requester != node_address){ + header->to_node = requester; + write(header->to_node,USER_TX_TO_PHYSICAL_ADDRESS); + wait_ms(10); + write(header->to_node,USER_TX_TO_PHYSICAL_ADDRESS); + //printf("Fwd add response to 0%o\n",requester); + continue; + } + } + if(header->type == NETWORK_REQ_ADDRESS && node_address){ + //printf("Fwd add req to 0\n"); + header->from_node = node_address; + header->to_node = 0; + write(header->to_node,TX_NORMAL); + continue; + } + + if( (returnSysMsgs && header->type > 127) || header->type == NETWORK_ACK ){ + //IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%lu MAC: System payload rcvd %d\n"),millis(),returnVal); ); + //if( (header->type < 148 || header->type > 150) && header->type != NETWORK_MORE_FRAGMENTS_NACK && header->type != EXTERNAL_DATA_TYPE && header->type!= NETWORK_LAST_FRAGMENT){ + if( header->type != NETWORK_FIRST_FRAGMENT && header->type != NETWORK_MORE_FRAGMENTS && header->type != NETWORK_MORE_FRAGMENTS_NACK && header->type != EXTERNAL_DATA_TYPE && header->type!= NETWORK_LAST_FRAGMENT){ + return returnVal; + } + } - if ( header.to_node == node_address && pipe_num == 0 && is_descendant(header.from_node) ) - { - uint8_t pipe = pipe_to_descendant(header.from_node); - radio.openReadingPipe(pipe,pipe_address(node_address,pipe)); + if( enqueue(header) == 2 ){ //External data received + #if defined (SERIAL_DEBUG_MINIMAL) + printf("ret ext\n"); + #endif + return EXTERNAL_DATA_TYPE; + } + }else{ + + #if defined (RF24NetworkMulticast) + + if( header->to_node == 0100){ + - // Also need to open pipe 1 so the system can get the full 5-byte address of the pipe. - radio.openReadingPipe(1,pipe_address(node_address,1)); + if(header->type == NETWORK_POLL ){ + //Serial.println("Send poll"); + header->to_node = header->from_node; + header->from_node = node_address; + //delay((node_address%5)*3); + write(header->to_node,USER_TX_TO_PHYSICAL_ADDRESS); + continue; + } + uint8_t val = enqueue(header); + + if(multicastRelay){ + //IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%u MAC: FWD multicast frame from 0%o to level %u\n"),millis(),header->from_node,multicast_level+1); ); + write(levelToAddress(multicast_level)<<3,4); + } + if( val == 2 ){ //External data received + //Serial.println("ret ext multicast"); + return EXTERNAL_DATA_TYPE; + } + + }else{ + write(header->to_node,1); //Send it on, indicate it is a routed payload + } + #else + write(header->to_node,1); //Send it on, indicate it is a routed payload + #endif } -#endif - } + } + return returnVal; } + + /******************************************************************/ -bool RF24Network::enqueue(void) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +/******************************************************************/ +/******************************************************************/ + + // Not defined RF24_Linux: + +/******************************************************************/ +/******************************************************************/ + +uint8_t RF24Network::enqueue(RF24NetworkHeader* header) { bool result = false; + uint8_t message_size = frame_size - sizeof(RF24NetworkHeader); - //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Enqueue @%x "),millis(),next_frame-frame_queue)); + IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Enqueue @%x "),millis(),next_frame-frame_queue)); + +#if !defined ( DISABLE_FRAGMENTATION ) + + bool isFragment = header->type == NETWORK_FIRST_FRAGMENT || header->type == NETWORK_MORE_FRAGMENTS || header->type == NETWORK_LAST_FRAGMENT || header->type == NETWORK_MORE_FRAGMENTS_NACK ; + + if(isFragment){ + + if(header->type == NETWORK_FIRST_FRAGMENT){ + // Drop frames exceeding max size and duplicates (MAX_PAYLOAD_SIZE needs to be divisible by 24) + if(header->reserved > (MAX_PAYLOAD_SIZE / max_frame_payload_size) ){ + + #if defined (SERIAL_DEBUG_FRAGMENTATION) || defined (SERIAL_DEBUG_MINIMAL) + printf_P(PSTR("Frag frame with %d frags exceeds MAX_PAYLOAD_SIZE or out of sequence\n"),header->reserved); + #endif + frag_queue.header.reserved = 0; + return false; + }else + if(frag_queue.header.id == header->id && frag_queue.header.from_node == header->from_node){ + return true; + } + + if( (header->reserved * 24) > (MAX_PAYLOAD_SIZE - (next_frame-frame_queue)) ){ + networkFlags |= FLAG_HOLD_INCOMING; + radio.stopListening(); + } + + memcpy(&frag_queue,&frame_buffer,8); + memcpy(frag_queue.message_buffer,frame_buffer+sizeof(RF24NetworkHeader),message_size); + +//IF_SERIAL_DEBUG_FRAGMENTATION( Serial.print(F("queue first, total frags ")); Serial.println(header->reserved); ); + //Store the total size of the stored frame in message_size + frag_queue.message_size = message_size; + --frag_queue.header.reserved; + +IF_SERIAL_DEBUG_FRAGMENTATION_L2( for(int i=0; i<frag_queue.message_size;i++){ Serial.println(frag_queue.message_buffer[i],HEX); } ); + + return true; + + }else // NETWORK_MORE_FRAGMENTS + if(header->type == NETWORK_LAST_FRAGMENT || header->type == NETWORK_MORE_FRAGMENTS || header->type == NETWORK_MORE_FRAGMENTS_NACK){ + + if(frag_queue.message_size + message_size > MAX_PAYLOAD_SIZE){ + #if defined (SERIAL_DEBUG_FRAGMENTATION) || defined (SERIAL_DEBUG_MINIMAL) + Serial.print(F("Drop frag ")); Serial.print(header->reserved); + Serial.println(F(" Size exceeds max")); + #endif + frag_queue.header.reserved=0; + return false; + } + if( frag_queue.header.reserved == 0 || (header->type != NETWORK_LAST_FRAGMENT && header->reserved != frag_queue.header.reserved ) || frag_queue.header.id != header->id ){ + #if defined (SERIAL_DEBUG_FRAGMENTATION) || defined (SERIAL_DEBUG_MINIMAL) + Serial.print(F("Drop frag ")); Serial.print(header->reserved); + //Serial.print(F(" header id ")); Serial.print(header->id); + Serial.println(F(" Out of order ")); + #endif + return false; + } + + memcpy(frag_queue.message_buffer+frag_queue.message_size,frame_buffer+sizeof(RF24NetworkHeader),message_size); + frag_queue.message_size += message_size; + + if(header->type != NETWORK_LAST_FRAGMENT){ + --frag_queue.header.reserved; + return true; + } + frag_queue.header.reserved = 0; + frag_queue.header.type = header->reserved; + +IF_SERIAL_DEBUG_FRAGMENTATION( printf(PSTR("fq 3: %d\n"),frag_queue.message_size); ); +IF_SERIAL_DEBUG_FRAGMENTATION_L2(for(int i=0; i< frag_queue.message_size;i++){ Serial.println(frag_queue.message_buffer[i],HEX); } ); + + //Frame assembly complete, copy to main buffer if OK + if(frag_queue.header.type == EXTERNAL_DATA_TYPE){ + return 2; + } + #if defined (DISABLE_USER_PAYLOADS) + return 0; + #endif + + if(MAX_PAYLOAD_SIZE - (next_frame-frame_queue) >= frag_queue.message_size){ + memcpy(next_frame,&frag_queue,10); + memcpy(next_frame+10,frag_queue.message_buffer,frag_queue.message_size); + next_frame += (10+frag_queue.message_size); + IF_SERIAL_DEBUG_FRAGMENTATION( printf(PSTR("enq size %d\n"),frag_queue.message_size); ); + return true; + }else{ + radio.stopListening(); + networkFlags |= FLAG_HOLD_INCOMING; + } + IF_SERIAL_DEBUG_FRAGMENTATION( printf(PSTR("Drop frag payload, queue full\n")); ); + return false; + }//If more or last fragments + + }else //else is not a fragment + #endif // End fragmentation enabled // Copy the current frame into the frame queue - if ( next_frame < frame_queue + sizeof(frame_queue) ) - { - memcpy(next_frame,frame_buffer, frame_size ); - next_frame += frame_size; + +#if !defined( DISABLE_FRAGMENTATION ) + if(header->type == EXTERNAL_DATA_TYPE){ + memcpy(&frag_queue,&frame_buffer,8); + frag_queue.message_buffer = frame_buffer+sizeof(RF24NetworkHeader); + frag_queue.message_size = message_size; + return 2; + } +#endif +#if defined (DISABLE_USER_PAYLOADS) + return 0; + } +#else + if(message_size + (next_frame-frame_queue) <= MAIN_BUFFER_SIZE){ + memcpy(next_frame,&frame_buffer,8); + RF24NetworkFrame *f = (RF24NetworkFrame*)next_frame; + f->message_size = message_size; + memcpy(next_frame+10,frame_buffer+sizeof(RF24NetworkHeader),message_size); + + IF_SERIAL_DEBUG_FRAGMENTATION( for(int i=0; i<message_size;i++){ Serial.print(next_frame[i],HEX); Serial.print(" : "); } Serial.println(""); ); + + next_frame += (message_size + 10); + IF_SERIAL_DEBUG_FRAGMENTATION( Serial.print("Enq "); Serial.println(next_frame-frame_queue); );//printf_P(PSTR("enq %d\n"),next_frame-frame_queue); ); + result = true; - //IF_SERIAL_DEBUG(printf_P(PSTR("ok\n\r"))); + }else{ + result = false; + IF_SERIAL_DEBUG(printf_P(PSTR("NET **Drop Payload** Buffer Full"))); } - else - { - //IF_SERIAL_DEBUG(printf_P(PSTR("failed\n\r"))); - } - return result; } +#endif //USER_PAYLOADS_ENABLED + /******************************************************************/ bool RF24Network::available(void) { + + + // Are there frames on the queue for us? return (next_frame > frame_queue); -} - -/******************************************************************/ - -void RF24Network::peek(RF24NetworkHeader& header) -{ - if ( available() ) - { - // Copy the next available frame from the queue into the provided buffer - memcpy(&header,next_frame-frame_size,sizeof(RF24NetworkHeader)); - } + } /******************************************************************/ -size_t RF24Network::read(RF24NetworkHeader& header,void* message, size_t maxlen) +uint16_t RF24Network::parent() const { - size_t bufsize = 0; + if ( node_address == 0 ) + return -1; + else + return parent_node; +} +/******************************************************************/ +/*uint8_t RF24Network::peekData(){ + + return frame_queue[0]; +}*/ + +uint16_t RF24Network::peek(RF24NetworkHeader& header) +{ if ( available() ) { - // Move the pointer back one in the queue - next_frame -= frame_size; - uint8_t* frame = next_frame; + + + + + + RF24NetworkFrame *frame = (RF24NetworkFrame*)(frame_queue); + memcpy(&header,&frame->header,sizeof(RF24NetworkHeader)); + return frame->message_size; + + } + return 0; +} + +/******************************************************************/ + +uint16_t RF24Network::read(RF24NetworkHeader& header,void* message, uint16_t maxlen) +{ + uint16_t bufsize = 0; + + + + + + + + + + + + + + + + + + + if ( available() ) + { + + memcpy(&header,frame_queue,8); + RF24NetworkFrame *f = (RF24NetworkFrame*)frame_queue; + bufsize = f->message_size; + + if (maxlen > 0) + { + maxlen = min(maxlen,bufsize); + memcpy(message,frame_queue+10,maxlen); + IF_SERIAL_DEBUG(printf("%lu: NET message size %d\n",millis(),bufsize);); + + + IF_SERIAL_DEBUG( uint16_t len = maxlen; printf_P(PSTR("%lu: NET r message "),millis());const uint8_t* charPtr = reinterpret_cast<const uint8_t*>(message);while(len--){ printf("%02x ",charPtr[len]);} printf_P(PSTR("\n\r") ) ); - // How much buffer size should we actually copy? - bufsize = min(maxlen,frame_size-sizeof(RF24NetworkHeader)); + } + memmove(frame_queue,frame_queue+bufsize+10,sizeof(frame_queue)- bufsize); + next_frame-=bufsize+10; - // Copy the next available frame from the queue into the provided buffer - memcpy(&header,frame,sizeof(RF24NetworkHeader)); - memcpy(message,frame+sizeof(RF24NetworkHeader),bufsize); - //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Received %s\n\r"),millis(),header.toString())); } return bufsize; } + +#if defined RF24NetworkMulticast +/******************************************************************/ +bool RF24Network::multicast(RF24NetworkHeader& header,const void* message, uint16_t len, uint8_t level){ + // Fill out the header + header.to_node = 0100; + header.from_node = node_address; + return write(header, message, len, levelToAddress(level)); +} +#endif + +/******************************************************************/ +bool RF24Network::write(RF24NetworkHeader& header,const void* message, uint16_t len){ + return write(header,message,len,070); +} +/******************************************************************/ +bool RF24Network::write(RF24NetworkHeader& header,const void* message, uint16_t len, uint16_t writeDirect){ + + //Allows time for requests (RF24Mesh) to get through between failed writes on busy nodes + while(rf24netTimer.read_ms()-txTime < 25){ if(update() > 127){break;} } + wait_us(200); + +#if defined (DISABLE_FRAGMENTATION) + frame_size = rf24_min(len+sizeof(RF24NetworkHeader),MAX_FRAME_SIZE); + return _write(header,message,rf24_min(len,max_frame_payload_size),writeDirect); +#else + if(len <= max_frame_payload_size){ + //Normal Write (Un-Fragmented) + frame_size = len + sizeof(RF24NetworkHeader); + if(_write(header,message,len,writeDirect)){ + return 1; + } + txTime = rf24netTimer.read_ms(); + return 0; + } + //Check payload size + if (len > MAX_PAYLOAD_SIZE) { + IF_SERIAL_DEBUG(printf("%u: NET write message failed. Given 'len' %d is bigger than the MAX Payload size %i\n\r",millis(),len,MAX_PAYLOAD_SIZE);); + return false; + } + + //Divide the message payload into chunks of max_frame_payload_size + uint8_t fragment_id = (len % max_frame_payload_size != 0) + ((len ) / max_frame_payload_size); //the number of fragments to send = ceil(len/max_frame_payload_size) + + uint8_t msgCount = 0; + + IF_SERIAL_DEBUG_FRAGMENTATION(printf("%lu: FRG Total message fragments %d\n\r",millis(),fragment_id);); + + if(header.to_node != 0100){ + networkFlags |= FLAG_FAST_FRAG; + #if !defined (DUAL_HEAD_RADIO) + radio.stopListening(); + #endif + } + + uint8_t retriesPerFrag = 0; + uint8_t type = header.type; + + while (fragment_id > 0) { + + //Copy and fill out the header + //RF24NetworkHeader fragmentHeader = header; + header.reserved = fragment_id; + + if (fragment_id == 1) { + header.type = NETWORK_LAST_FRAGMENT; //Set the last fragment flag to indicate the last fragment + header.reserved = type; //The reserved field is used to transmit the header type + } else { + if (msgCount == 0) { + header.type = NETWORK_FIRST_FRAGMENT; + }else{ + header.type = NETWORK_MORE_FRAGMENTS; //Set the more fragments flag to indicate a fragmented frame + } + } + + uint16_t offset = msgCount*max_frame_payload_size; + uint16_t fragmentLen = rf24_min((uint16_t)(len-offset),max_frame_payload_size); + + //Try to send the payload chunk with the copied header + frame_size = sizeof(RF24NetworkHeader)+fragmentLen; + bool ok = _write(header,((char *)message)+offset,fragmentLen,writeDirect); + + if (!ok) { + wait_ms(2); + ++retriesPerFrag; + + }else{ + retriesPerFrag = 0; + fragment_id--; + msgCount++; + } + + if(writeDirect != 070){ wait_ms(2); } //Delay 2ms between sending multicast payloads + + if (!ok && retriesPerFrag >= 3) { + IF_SERIAL_DEBUG_FRAGMENTATION(printf("%lu: FRG TX with fragmentID '%d' failed after %d fragments. Abort.\n\r",millis(),fragment_id,msgCount);); + break; + } + + + //Message was successful sent + #if defined SERIAL_DEBUG_FRAGMENTATION_L2 + printf("%lu: FRG message transmission with fragmentID '%d' sucessfull.\n\r",millis(),fragment_id); + #endif + + } + + #if !defined (DUAL_HEAD_RADIO) + if(networkFlags & FLAG_FAST_FRAG){ + radio.startListening(); + } + #endif + networkFlags &= ~FLAG_FAST_FRAG + //int frag_delay = uint8_t(len/48); + //delay( rf24_min(len/48,20)); + + //Return true if all the chunks where sent successfully + + IF_SERIAL_DEBUG_FRAGMENTATION(printf("%u: FRG total message fragments sent %i. \n",millis(),msgCount); ); + if(fragment_id > 0){ + txTime = rf24netTimer.read_ms(); + return false; + } + return true; + +#endif //Fragmentation enabled +} /******************************************************************/ -bool RF24Network::write(RF24NetworkHeader& header,const void* message, size_t len) +bool RF24Network::_write(RF24NetworkHeader& header,const void* message, uint16_t len, uint16_t writeDirect) { // Fill out the header header.from_node = node_address; - + // Build the full frame to send memcpy(frame_buffer,&header,sizeof(RF24NetworkHeader)); - if (len) - memcpy(frame_buffer + sizeof(RF24NetworkHeader),message,min(frame_size-sizeof(RF24NetworkHeader),len)); + + + + + IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Sending %s\n\r"),millis(),header.toString())); + + if (len){ - //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Sending %s\n\r"),millis(),header.toString())); - if (len) - { - //IF_SERIAL_DEBUG(const uint16_t* i = reinterpret_cast<const uint16_t*>(message);printf_P(PSTR("%lu: NET message %04x\n\r"),millis(),*i)); + + + + + + memcpy(frame_buffer + sizeof(RF24NetworkHeader),message,len); + + IF_SERIAL_DEBUG(uint16_t tmpLen = len;printf_P(PSTR("%lu: NET message "),millis());const uint8_t* charPtr = reinterpret_cast<const uint8_t*>(message);while(tmpLen--){ printf("%02x ",charPtr[tmpLen]);} printf_P(PSTR("\n\r") ) ); + } // If the user is trying to send it to himself - if ( header.to_node == node_address ) + /*if ( header.to_node == node_address ){ + #if defined (RF24_LINUX) + RF24NetworkFrame frame = RF24NetworkFrame(header,message,rf24_min(MAX_FRAME_SIZE-sizeof(RF24NetworkHeader),len)); + #else + RF24NetworkFrame frame(header,len); + #endif // Just queue it in the received queue - return enqueue(); - else - // Otherwise send it out over the air - return write(header.to_node); + return enqueue(frame); + }*/ + // Otherwise send it out over the air + + + if(writeDirect != 070){ + uint8_t sendType = USER_TX_TO_LOGICAL_ADDRESS; // Payload is multicast to the first node, and routed normally to the next + + if(header.to_node == 0100){ + sendType = USER_TX_MULTICAST; + } + if(header.to_node == writeDirect){ + sendType = USER_TX_TO_PHYSICAL_ADDRESS; // Payload is multicast to the first node, which is the recipient + } + return write(writeDirect,sendType); + } + return write(header.to_node,TX_NORMAL); + } /******************************************************************/ -bool RF24Network::write(uint16_t to_node) +bool RF24Network::write(uint16_t to_node, uint8_t directTo) // Direct To: 0 = First Payload, standard routing, 1=routed payload, 2=directRoute to host, 3=directRoute to Route { bool ok = false; + bool isAckType = false; + if(frame_buffer[6] > 64 && frame_buffer[6] < 192 ){ isAckType=true; } + + /*if( ( (frame_buffer[7] % 2) && frame_buffer[6] == NETWORK_MORE_FRAGMENTS) ){ + isAckType = 0; + }*/ // Throw it away if it's not a valid address if ( !is_valid_address(to_node) ) - return false; + return false; + + //Load info into our conversion structure, and get the converted address info + logicalToPhysicalStruct conversion = { to_node,directTo,0}; + logicalToPhysicalAddress(&conversion); + + + + + IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Sending to 0%o via 0%o on pipe %x\n\r"),millis(),to_node,conversion.send_node,conversion.send_pipe)); + + /**Write it*/ + ok=write_to_pipe(conversion.send_node, conversion.send_pipe, conversion.multicast); + + + if(!ok){ - // First, stop listening so we can talk. - //radio.stopListening(); + + + + IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%lu: MAC Send fail to 0%o via 0%o on pipe %x\n\r"),millis(),to_node,conversion.send_node,conversion.send_pipe);); + } + + + if( directTo == TX_ROUTED && ok && conversion.send_node == to_node && isAckType){ + + RF24NetworkHeader* header = (RF24NetworkHeader*)&frame_buffer; + header->type = NETWORK_ACK; // Set the payload type to NETWORK_ACK + header->to_node = header->from_node; // Change the 'to' address to the 'from' address + + conversion.send_node = header->from_node; + conversion.send_pipe = TX_ROUTED; + conversion.multicast = 0; + logicalToPhysicalAddress(&conversion); + + //Write the data using the resulting physical address + frame_size = sizeof(RF24NetworkHeader); + write_to_pipe(conversion.send_node, conversion.send_pipe, conversion.multicast); + + //dynLen=0; - // Where do we send this? By default, to our parent - uint16_t send_node = parent_node; - // On which pipe - uint8_t send_pipe = parent_pipe; - - // If the node is a direct child, - if ( is_direct_child(to_node) ) - { - // Send directly - send_node = to_node; + + + IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%lu MAC: Route OK to 0%o ACK sent to 0%o\n"),millis(),to_node,header->from_node); ); + + } + + + + if( ok && conversion.send_node != to_node && (directTo==0 || directTo==3) && isAckType){ + #if !defined (DUAL_HEAD_RADIO) + // Now, continue listening + if(networkFlags & FLAG_FAST_FRAG){ + radio.txStandBy(txTimeout); + networkFlags &= ~FLAG_FAST_FRAG; + } + radio.startListening(); + #endif + uint32_t reply_time = rf24netTimer.read_ms(); - // To its listening pipe - send_pipe = 0; + while( update() != NETWORK_ACK){ + wait_us(900); + if(rf24netTimer.read_ms() - reply_time > routeTimeout){ + + + + IF_SERIAL_DEBUG_ROUTING( printf_P(PSTR("%lu: MAC Network ACK fail from 0%o via 0%o on pipe %x\n\r"),millis(),to_node,conversion.send_node,conversion.send_pipe); ); + + ok=false; + break; + } + } + } + if( !(networkFlags & FLAG_FAST_FRAG) ){ + #if !defined (DUAL_HEAD_RADIO) + // Now, continue listening + radio.startListening(); + #endif + } + +#if defined ENABLE_NETWORK_STATS + if(ok == true){ + ++nOK; + }else{ ++nFails; } - // If the node is a child of a child - // talk on our child's listening pipe, - // and let the direct child relay it. - else if ( is_descendant(to_node) ) - { - send_node = direct_child_route_to(to_node); - send_pipe = 0; - } - - //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Sending to 0%o via 0%o on pipe %x\n\r"),millis(),to_node,send_node,send_pipe)); - - // First, stop listening so we can talk - radio.stopListening(); - - // Put the frame on the pipe - ok = write_to_pipe( send_node, send_pipe ); - - // NOT NEEDED anymore. Now all reading pipes are open to start. -#if 0 - // If we are talking on our talking pipe, it's possible that no one is listening. - // If this fails, try sending it on our parent's listening pipe. That will wake - // it up, and next time it will listen to us. - - if ( !ok && send_node == parent_node ) - ok = write_to_pipe( parent_node, 0 ); #endif - - // Now, continue listening - radio.startListening(); - return ok; } /******************************************************************/ -bool RF24Network::write_to_pipe( uint16_t node, uint8_t pipe ) + // Provided the to_node and directTo option, it will return the resulting node and pipe +bool RF24Network::logicalToPhysicalAddress(logicalToPhysicalStruct *conversionInfo){ + + //Create pointers so this makes sense.. kind of + //We take in the to_node(logical) now, at the end of the function, output the send_node(physical) address, etc. + //back to the original memory address that held the logical information. + uint16_t *to_node = &conversionInfo->send_node; + uint8_t *directTo = &conversionInfo->send_pipe; + bool *multicast = &conversionInfo->multicast; + + // Where do we send this? By default, to our parent + uint16_t pre_conversion_send_node = parent_node; + + // On which pipe + uint8_t pre_conversion_send_pipe = parent_pipe %5; + + if(*directTo > TX_ROUTED ){ + pre_conversion_send_node = *to_node; + *multicast = 1; + //if(*directTo == USER_TX_MULTICAST || *directTo == USER_TX_TO_PHYSICAL_ADDRESS){ + pre_conversion_send_pipe=0; + //} + } + // If the node is a direct child, + else + if ( is_direct_child(*to_node) ) + { + // Send directly + pre_conversion_send_node = *to_node; + // To its listening pipe + pre_conversion_send_pipe = 5; + } + // If the node is a child of a child + // talk on our child's listening pipe, + // and let the direct child relay it. + else if ( is_descendant(*to_node) ) + { + pre_conversion_send_node = direct_child_route_to(*to_node); + pre_conversion_send_pipe = 5; + } + + *to_node = pre_conversion_send_node; + *directTo = pre_conversion_send_pipe; + + return 1; + +} + +/********************************************************/ + + +bool RF24Network::write_to_pipe( uint16_t node, uint8_t pipe, bool multicast ) { bool ok = false; + uint64_t out_pipe = pipe_address( node, pipe ); - uint64_t out_pipe = pipe_address( node, pipe ); - - // Open the correct pipe for writing. - radio.openWritingPipe(out_pipe); + #if !defined (DUAL_HEAD_RADIO) + // Open the correct pipe for writing. + // First, stop listening so we can talk - // Retry a few times - short attempts = 5; - do - { - ok = radio.write( frame_buffer, frame_size ); + if(!(networkFlags & FLAG_FAST_FRAG)){ + radio.stopListening(); } - while ( !ok && --attempts ); + + if(multicast){ radio.setAutoAck(0,0);}else{radio.setAutoAck(0,1);} + + radio.openWritingPipe(out_pipe); + radio.writeFast(frame_buffer, frame_size,multicast); + ok = radio.txStandBy(txTimeout); + + radio.setAutoAck(0,0); + +#else + radio1.openWritingPipe(out_pipe); + radio1.writeFast(frame_buffer, frame_size); + ok = radio1.txStandBy(txTimeout,multicast); - //IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Sent on %lx %S\n\r"),millis(),(uint32_t)out_pipe,ok?PSTR("ok"):PSTR("failed"))); +#endif + + + + IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Sent on %lx %S\n\r"),rf24netTimer.read_ms(),(uint32_t)out_pipe,ok?PSTR("ok"):PSTR("failed"))); + + return ok; } @@ -288,7 +1040,8 @@ const char* RF24NetworkHeader::toString(void) const { static char buffer[45]; - //snprintf_P(buffer,sizeof(buffer),("id %04x from 0%o to 0%o type %c"),id,from_node,to_node,type); + //snprintf_P(buffer,sizeof(buffer),PSTR("id %04x from 0%o to 0%o type %c"),id,from_node,to_node,type); + sprintf(buffer,PSTR("id %u from 0%o to 0%o type %d"),id,from_node,to_node,type); return buffer; } @@ -311,7 +1064,6 @@ uint16_t child_node_mask = ( ~ node_mask ) << 3; result = ( node & child_node_mask ) == 0 ; } - return result; } @@ -327,9 +1079,20 @@ void RF24Network::setup_address(void) { // First, establish the node_mask - uint16_t node_mask_check = 0xFFFF; - while ( node_address & node_mask_check ) + uint16_t node_mask_check = 0xFFFF; + #if defined (RF24NetworkMulticast) + uint8_t count = 0; + #endif + + while ( node_address & node_mask_check ){ node_mask_check <<= 3; + #if defined (RF24NetworkMulticast) + count++; + } + multicast_level = count; + #else + } + #endif node_mask = ~ node_mask_check; @@ -349,9 +1112,24 @@ } parent_pipe = i; -#ifdef SERIAL_DEBUG - printf_P(PSTR("setup_address node=0%o mask=0%o parent=0%o pipe=0%o\n\r"),node_address,node_mask,parent_node,parent_pipe); -#endif + IF_SERIAL_DEBUG( printf_P(PSTR("setup_address node=0%o mask=0%o parent=0%o pipe=0%o\n\r"),node_address,node_mask,parent_node,parent_pipe);); + +} + +/******************************************************************/ +uint16_t RF24Network::addressOfPipe( uint16_t node, uint8_t pipeNo ) +{ + //Say this node is 013 (1011), mask is 077 or (00111111) + //Say we want to use pipe 3 (11) + //6 bits in node mask, so shift pipeNo 6 times left and | into address + uint16_t m = node_mask >> 3; + uint8_t i=0; + + while (m){ //While there are bits left in the node mask + m>>=1; //Shift to the right + i++; //Count the # of increments + } + return node | (pipeNo << i); } /******************************************************************/ @@ -359,40 +1137,44 @@ uint16_t RF24Network::direct_child_route_to( uint16_t node ) { // Presumes that this is in fact a child!! - uint16_t child_mask = ( node_mask << 3 ) | 7; - return node & child_mask ; + return node & child_mask; + } /******************************************************************/ - +/* uint8_t RF24Network::pipe_to_descendant( uint16_t node ) { - uint16_t i = node; + uint16_t i = node; uint16_t m = node_mask; - + while (m) { i >>= 3; m >>= 3; } - return i & 7; -} + return i & 0B111; +}*/ /******************************************************************/ -bool is_valid_address( uint16_t node ) +bool RF24Network::is_valid_address( uint16_t node ) { bool result = true; while(node) { uint8_t digit = node & 7; + #if !defined (RF24NetworkMulticast) if (digit < 1 || digit > 5) + #else + if (digit < 0 || digit > 5) //Allow our out of range multicast address + #endif { result = false; - //printf_P(("*** WARNING *** Invalid address 0%o\n\r"),node); + IF_SERIAL_DEBUG_MINIMAL(printf_P(PSTR("*** WARNING *** Invalid address 0%o\n\r"),node);); break; } node >>= 3; @@ -402,39 +1184,133 @@ } /******************************************************************/ +#if defined (RF24NetworkMulticast) +void RF24Network::multicastLevel(uint8_t level){ + multicast_level = level; + //radio.stopListening(); + radio.openReadingPipe(0,pipe_address(levelToAddress(level),0)); + //radio.startListening(); + } + +uint16_t levelToAddress(uint8_t level){ + + uint16_t levelAddr = 1; + if(level){ + levelAddr = levelAddr << ((level-1) * 3); + }else{ + return 0; + } + return levelAddr; +} +#endif +/******************************************************************/ uint64_t pipe_address( uint16_t node, uint8_t pipe ) { - static uint8_t pipe_segment[] = { 0x3c, 0x5a, 0x69, 0x96, 0xa5, 0xc3 }; - - uint64_t result; + + static uint8_t address_translation[] = { 0xc3,0x3c,0x33,0xce,0x3e,0xe3,0xec }; + uint64_t result = 0xCCCCCCCCCCLL; uint8_t* out = reinterpret_cast<uint8_t*>(&result); - - out[0] = pipe_segment[pipe]; + + // Translate the address to use our optimally chosen radio address bytes + uint8_t count = 1; uint16_t dec = node; - uint8_t w; - short i = 4; - short shift = 12; - while(i--) - { - w = ( node >> shift ) & 0xF ; - w |= ~w << 4; - out[i+1] = w; + while(dec){ + #if defined (RF24NetworkMulticast) + if(pipe != 0 || !node) + #endif + out[count]=address_translation[(dec % 8)]; // Convert our decimal values to octal, translate them to address bytes, and set our address + + dec /= 8; + count++; + } + + #if defined (RF24NetworkMulticast) + if(pipe != 0 || !node) + #endif + out[0] = address_translation[pipe]; + #if defined (RF24NetworkMulticast) + else + out[1] = address_translation[count-1]; + #endif - shift -= 4; - } + + - //IF_SERIAL_DEBUG(uint32_t* top = reinterpret_cast<uint32_t*>(out+1);printf_P(PSTR("%lu: NET Pipe %i on node 0%o has address %lx%x\n\r"),millis(),pipe,node,*top,*out)); + + + IF_SERIAL_DEBUG(uint32_t* top = reinterpret_cast<uint32_t*>(out+1);printf_P(PSTR("%lu: NET Pipe %i on node 0%o has address %lx%x\n\r"),millis(),pipe,node,*top,*out)); + return result; } -// vim:ai:cin:sts=2 sw=2 ft=cpp + +/************************ Sleep Mode ******************************************/ + + +#if defined ENABLE_SLEEP_MODE + +#if !defined(__arm__) && !defined(__ARDUINO_X86__) + +void wakeUp(){ + wasInterrupted=true; + sleep_cycles_remaining = 0; +} + +ISR(WDT_vect){ + --sleep_cycles_remaining; +} + + +bool RF24Network::sleepNode( unsigned int cycles, int interruptPin ){ + + + sleep_cycles_remaining = cycles; + set_sleep_mode(SLEEP_MODE_PWR_DOWN); // sleep mode is set here + sleep_enable(); + if(interruptPin != 255){ + wasInterrupted = false; //Reset Flag + attachInterrupt(interruptPin,wakeUp, LOW); + } + + + + + WDTCSR |= _BV(WDIE); + -uint8_t RF24Network::min(uint8_t a, uint8_t b) -{ - if(a < b) - return a; - else - return b; -} \ No newline at end of file + while(sleep_cycles_remaining){ + sleep_mode(); // System sleeps here + } // The WDT_vect interrupt wakes the MCU from here + sleep_disable(); // System continues execution here when watchdog timed out + detachInterrupt(interruptPin); + + + + + + WDTCSR &= ~_BV(WDIE); + + + return !wasInterrupted; +} + +void RF24Network::setup_watchdog(uint8_t prescalar){ + + uint8_t wdtcsr = prescalar & 7; + if ( prescalar & 8 ) + wdtcsr |= _BV(WDP3); + MCUSR &= ~_BV(WDRF); // Clear the WD System Reset Flag + + + + + WDTCSR = _BV(WDCE) | _BV(WDE); // Write the WD Change enable bit to enable changing the prescaler and enable system reset + WDTCSR = _BV(WDCE) | wdtcsr | _BV(WDIE); // Write the prescalar bits (how long to sleep, enable the interrupt to wake the MCU + +} + + +#endif // not ATTiny +#endif // Enable sleep mode