Britney Dorval / Mbed 2 deprecated Yusheng-final_project_robot

Code for robot

Dependencies:   mbed

Fork of Yusheng-final_project by Britney Dorval

MRF24J40/MRF24J40.cpp@6:ae3e6aefe908, 2016-11-10 (annotated)

Committer:
csharer
Date:
Thu Nov 10 19:20:55 2016 +0000
Revision:
6:ae3e6aefe908
ese519 lab6 part 3;

Who changed what in which revision?

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csharer 6:ae3e6aefe908 1 /* mbed MRF24J40 (IEEE 802.15.4 tranceiver) Library
csharer 6:ae3e6aefe908 2 * Copyright (c) 2011 Jeroen Hilgers
csharer 6:ae3e6aefe908 3 *
csharer 6:ae3e6aefe908 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
csharer 6:ae3e6aefe908 5 * of this software and associated documentation files (the "Software"), to deal
csharer 6:ae3e6aefe908 6 * in the Software without restriction, including without limitation the rights
csharer 6:ae3e6aefe908 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
csharer 6:ae3e6aefe908 8 * copies of the Software, and to permit persons to whom the Software is
csharer 6:ae3e6aefe908 9 * furnished to do so, subject to the following conditions:
csharer 6:ae3e6aefe908 10 *
csharer 6:ae3e6aefe908 11 * The above copyright notice and this permission notice shall be included in
csharer 6:ae3e6aefe908 12 * all copies or substantial portions of the Software.
csharer 6:ae3e6aefe908 13 *
csharer 6:ae3e6aefe908 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
csharer 6:ae3e6aefe908 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
csharer 6:ae3e6aefe908 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
csharer 6:ae3e6aefe908 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
csharer 6:ae3e6aefe908 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
csharer 6:ae3e6aefe908 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
csharer 6:ae3e6aefe908 20 * THE SOFTWARE.
csharer 6:ae3e6aefe908 21 */
csharer 6:ae3e6aefe908 22
csharer 6:ae3e6aefe908 23 #include "MRF24J40.h"
csharer 6:ae3e6aefe908 24
csharer 6:ae3e6aefe908 25 // MRF20J40 Short address control register mapping.
csharer 6:ae3e6aefe908 26 #define RXMCR 0x00
csharer 6:ae3e6aefe908 27 #define PANIDL 0x01
csharer 6:ae3e6aefe908 28 #define PANIDH 0x02
csharer 6:ae3e6aefe908 29 #define SADRL 0x03
csharer 6:ae3e6aefe908 30 #define SADRH 0x04
csharer 6:ae3e6aefe908 31 #define EADR0 0x05
csharer 6:ae3e6aefe908 32 #define EADR1 0x06
csharer 6:ae3e6aefe908 33 #define EADR2 0x07
csharer 6:ae3e6aefe908 34 #define EADR3 0x08
csharer 6:ae3e6aefe908 35 #define EADR4 0x09
csharer 6:ae3e6aefe908 36 #define EADR5 0x0a
csharer 6:ae3e6aefe908 37 #define EADR6 0x0b
csharer 6:ae3e6aefe908 38 #define EADR7 0x0c
csharer 6:ae3e6aefe908 39 #define RXFLUSH 0x0d
csharer 6:ae3e6aefe908 40
csharer 6:ae3e6aefe908 41 #define TXNMTRIG 0x1b
csharer 6:ae3e6aefe908 42 #define TXSR 0x24
csharer 6:ae3e6aefe908 43
csharer 6:ae3e6aefe908 44 #define ISRSTS 0x31
csharer 6:ae3e6aefe908 45 #define INTMSK 0x32
csharer 6:ae3e6aefe908 46 #define GPIO 0x33
csharer 6:ae3e6aefe908 47 #define TRISGPIO 0x34
csharer 6:ae3e6aefe908 48
csharer 6:ae3e6aefe908 49 #define RFCTL 0x36
csharer 6:ae3e6aefe908 50
csharer 6:ae3e6aefe908 51 #define BBREG2 0x3A
csharer 6:ae3e6aefe908 52
csharer 6:ae3e6aefe908 53 #define BBREG6 0x3E
csharer 6:ae3e6aefe908 54 #define RSSITHCCA 0x3F
csharer 6:ae3e6aefe908 55
csharer 6:ae3e6aefe908 56 // MRF20J40 Long address control register mapping.
csharer 6:ae3e6aefe908 57 #define RFCTRL0 0x200
csharer 6:ae3e6aefe908 58
csharer 6:ae3e6aefe908 59 #define RFCTRL2 0x202
csharer 6:ae3e6aefe908 60 #define RFCTRL3 0x203
csharer 6:ae3e6aefe908 61
csharer 6:ae3e6aefe908 62 #define RFCTRL6 0x206
csharer 6:ae3e6aefe908 63 #define RFCTRL7 0x207
csharer 6:ae3e6aefe908 64 #define RFCTRL8 0x208
csharer 6:ae3e6aefe908 65
csharer 6:ae3e6aefe908 66 #define CLKINTCR 0x211
csharer 6:ae3e6aefe908 67 #define CLCCTRL 0x220
csharer 6:ae3e6aefe908 68
csharer 6:ae3e6aefe908 69 MRF24J40::MRF24J40(PinName mosi, PinName miso, PinName sck, PinName cs, PinName reset) ://, PinName irq, PinName wake) :
csharer 6:ae3e6aefe908 70 mSpi(mosi, miso, sck), // mosi, miso, sclk
csharer 6:ae3e6aefe908 71 mCs(cs),
csharer 6:ae3e6aefe908 72 mReset(reset)
csharer 6:ae3e6aefe908 73 // mIrq(irq),
csharer 6:ae3e6aefe908 74 // mWake(wake)
csharer 6:ae3e6aefe908 75 {
csharer 6:ae3e6aefe908 76 mSpi.format(8, 0); // 8 bits, cpol=0; cpha=0
csharer 6:ae3e6aefe908 77 mSpi.frequency(500000);
csharer 6:ae3e6aefe908 78 Reset();
csharer 6:ae3e6aefe908 79 }
csharer 6:ae3e6aefe908 80
csharer 6:ae3e6aefe908 81 /*
csharer 6:ae3e6aefe908 82 void MRF24J40::DebugDump(Serial &ser)
csharer 6:ae3e6aefe908 83 {
csharer 6:ae3e6aefe908 84 ser.printf("MRF24J40 registers:\r");
csharer 6:ae3e6aefe908 85 ser.printf("RXMCR=0x%X\r", MrfReadShort(RXMCR));
csharer 6:ae3e6aefe908 86 ser.printf("RXFLUSH=0x%X\r", MrfReadShort(RXFLUSH));
csharer 6:ae3e6aefe908 87 ser.printf("TXNMTRIG=0x%X\r", MrfReadShort(TXNMTRIG));
csharer 6:ae3e6aefe908 88 ser.printf("TXSR=0x%X\r", MrfReadShort(TXSR));
csharer 6:ae3e6aefe908 89 ser.printf("ISRSTS=0x%X\r", MrfReadShort(ISRSTS));
csharer 6:ae3e6aefe908 90 ser.printf("INTMSK=0x%X\r", MrfReadShort(INTMSK));
csharer 6:ae3e6aefe908 91 ser.printf("GPIO=0x%X\r", MrfReadShort(GPIO));
csharer 6:ae3e6aefe908 92 ser.printf("TRISGPIO=0x%X\r", MrfReadShort(TRISGPIO));
csharer 6:ae3e6aefe908 93 ser.printf("RFCTL=0x%X\r", MrfReadShort(RFCTL));
csharer 6:ae3e6aefe908 94 ser.printf("BBREG2=0x%X\r", MrfReadShort(BBREG2));
csharer 6:ae3e6aefe908 95 ser.printf("BBREG6=0x%X\r", MrfReadShort(BBREG6));
csharer 6:ae3e6aefe908 96 ser.printf("RSSITHCCA=0x%X\r", MrfReadShort(RSSITHCCA));
csharer 6:ae3e6aefe908 97
csharer 6:ae3e6aefe908 98
csharer 6:ae3e6aefe908 99 ser.printf("RFCTRL0=0x%X\r", MrfReadLong(RFCTRL0));
csharer 6:ae3e6aefe908 100 ser.printf("RFCTRL2=0x%X\r", MrfReadLong(RFCTRL2));
csharer 6:ae3e6aefe908 101 ser.printf("RFCTRL3=0x%X\r", MrfReadLong(RFCTRL3));
csharer 6:ae3e6aefe908 102 ser.printf("RFCTRL6=0x%X\r", MrfReadLong(RFCTRL6));
csharer 6:ae3e6aefe908 103 ser.printf("RFCTRL7=0x%X\r", MrfReadLong(RFCTRL7));
csharer 6:ae3e6aefe908 104 ser.printf("RFCTRL8=0x%X\r", MrfReadLong(RFCTRL8));
csharer 6:ae3e6aefe908 105 ser.printf("CLKINTCR=0x%X\r", MrfReadLong(CLKINTCR));
csharer 6:ae3e6aefe908 106 ser.printf("CLCCTRL=0x%X\r", MrfReadLong(CLCCTRL));
csharer 6:ae3e6aefe908 107 ser.printf("\r");
csharer 6:ae3e6aefe908 108 }
csharer 6:ae3e6aefe908 109 */
csharer 6:ae3e6aefe908 110
csharer 6:ae3e6aefe908 111 void MRF24J40::Reset(void)
csharer 6:ae3e6aefe908 112 {
csharer 6:ae3e6aefe908 113 mCs = 1;
csharer 6:ae3e6aefe908 114 // Pulse hardware reset.
csharer 6:ae3e6aefe908 115 mReset = 0;
csharer 6:ae3e6aefe908 116 wait_us(100);
csharer 6:ae3e6aefe908 117 mReset = 1;
csharer 6:ae3e6aefe908 118 wait_us(100);
csharer 6:ae3e6aefe908 119
csharer 6:ae3e6aefe908 120 // Reset RF module.
csharer 6:ae3e6aefe908 121 WriteShort(RFCTL, 0x04);
csharer 6:ae3e6aefe908 122 WriteShort(RFCTL, 0x00);
csharer 6:ae3e6aefe908 123
csharer 6:ae3e6aefe908 124 WriteShort(RFCTL, 0x00);
csharer 6:ae3e6aefe908 125
csharer 6:ae3e6aefe908 126 WriteShort(PANIDL, 0xAA);
csharer 6:ae3e6aefe908 127 WriteShort(PANIDH, 0xAA);
csharer 6:ae3e6aefe908 128 WriteShort(SADRL, 0xAA);
csharer 6:ae3e6aefe908 129 WriteShort(SADRH, 0xAA);
csharer 6:ae3e6aefe908 130
csharer 6:ae3e6aefe908 131 // Flush RX fifo.
csharer 6:ae3e6aefe908 132 WriteShort(RXFLUSH, 0x01);
csharer 6:ae3e6aefe908 133
csharer 6:ae3e6aefe908 134 // Write MAC addresses here. We don't care.
csharer 6:ae3e6aefe908 135
csharer 6:ae3e6aefe908 136 WriteLong(RFCTRL2, 0x80); // Enable RF PLL.
csharer 6:ae3e6aefe908 137
csharer 6:ae3e6aefe908 138 WriteLong(RFCTRL3, 0x00); // Full power.
csharer 6:ae3e6aefe908 139 WriteLong(RFCTRL6, 0x80); // Enable TX filter (recommended)
csharer 6:ae3e6aefe908 140 WriteLong(RFCTRL8, 0x10); // Enhanced VCO (recommended)
csharer 6:ae3e6aefe908 141
csharer 6:ae3e6aefe908 142 WriteShort(BBREG2,0x78); // Clear Channel Assesment use carrier sense.
csharer 6:ae3e6aefe908 143 WriteShort(BBREG6,0x40); // Calculate RSSI for Rx packet.
csharer 6:ae3e6aefe908 144 WriteShort(RSSITHCCA,0x00);// RSSI threshold for CCA.
csharer 6:ae3e6aefe908 145
csharer 6:ae3e6aefe908 146 WriteLong(RFCTRL0, 0x00); // Channel 11.
csharer 6:ae3e6aefe908 147
csharer 6:ae3e6aefe908 148 WriteShort(RXMCR, 0x01); // Don't check address upon reception.
csharer 6:ae3e6aefe908 149 // MrfWriteShort(RXMCR, 0x00); // Check address upon reception.
csharer 6:ae3e6aefe908 150
csharer 6:ae3e6aefe908 151 // Reset RF module with new settings.
csharer 6:ae3e6aefe908 152 WriteShort(RFCTL, 0x04);
csharer 6:ae3e6aefe908 153 WriteShort(RFCTL, 0x00);
csharer 6:ae3e6aefe908 154 }
csharer 6:ae3e6aefe908 155
csharer 6:ae3e6aefe908 156 void MRF24J40::Send(uint8_t *data, uint8_t length)
csharer 6:ae3e6aefe908 157 {
csharer 6:ae3e6aefe908 158 uint8_t i;
csharer 6:ae3e6aefe908 159
csharer 6:ae3e6aefe908 160 WriteLong(0x000, 0); // No addresses in header.
csharer 6:ae3e6aefe908 161 WriteLong(0x001, length); // 11 bytes
csharer 6:ae3e6aefe908 162 for(i=0; i<length; i++)
csharer 6:ae3e6aefe908 163 WriteLong(0x002+i, data[i]);
csharer 6:ae3e6aefe908 164
csharer 6:ae3e6aefe908 165 WriteShort(TXNMTRIG, 0x01);
csharer 6:ae3e6aefe908 166 }
csharer 6:ae3e6aefe908 167
csharer 6:ae3e6aefe908 168 uint8_t MRF24J40::Receive(uint8_t *data, uint8_t maxLength)
csharer 6:ae3e6aefe908 169 {
csharer 6:ae3e6aefe908 170 uint8_t i, length;
csharer 6:ae3e6aefe908 171 uint8_t lqi, rssi;
csharer 6:ae3e6aefe908 172
csharer 6:ae3e6aefe908 173 if(ReadShort(ISRSTS)& 0x08)
csharer 6:ae3e6aefe908 174 {
csharer 6:ae3e6aefe908 175 length = ReadLong(0x300);
csharer 6:ae3e6aefe908 176 lqi = ReadLong(0x301 + length);
csharer 6:ae3e6aefe908 177 rssi = ReadLong(0x302 + length);
csharer 6:ae3e6aefe908 178 for(i=0; i<length; i++)
csharer 6:ae3e6aefe908 179 if(i<maxLength)
csharer 6:ae3e6aefe908 180 *data++ = ReadLong(0x301 + (uint16_t)i);
csharer 6:ae3e6aefe908 181 else
csharer 6:ae3e6aefe908 182 ReadLong(0x301 + (uint16_t)i);
csharer 6:ae3e6aefe908 183 if(length < maxLength)
csharer 6:ae3e6aefe908 184 return length;
csharer 6:ae3e6aefe908 185 }
csharer 6:ae3e6aefe908 186 return 0;
csharer 6:ae3e6aefe908 187 }
csharer 6:ae3e6aefe908 188
csharer 6:ae3e6aefe908 189 uint8_t MRF24J40::ReadShort (uint8_t address)
csharer 6:ae3e6aefe908 190 {
csharer 6:ae3e6aefe908 191 uint8_t value;
csharer 6:ae3e6aefe908 192 mCs = 0;
csharer 6:ae3e6aefe908 193 wait_us(1);
csharer 6:ae3e6aefe908 194 mSpi.write((address<<1) & 0x7E);
csharer 6:ae3e6aefe908 195 wait_us(1);
csharer 6:ae3e6aefe908 196 value = mSpi.write(0xFF);
csharer 6:ae3e6aefe908 197 wait_us(1);
csharer 6:ae3e6aefe908 198 mCs = 1;
csharer 6:ae3e6aefe908 199 wait_us(1);
csharer 6:ae3e6aefe908 200 return value;
csharer 6:ae3e6aefe908 201 }
csharer 6:ae3e6aefe908 202
csharer 6:ae3e6aefe908 203 void MRF24J40::WriteShort (uint8_t address, uint8_t data)
csharer 6:ae3e6aefe908 204 {
csharer 6:ae3e6aefe908 205 mCs = 0;
csharer 6:ae3e6aefe908 206 wait_us(1);
csharer 6:ae3e6aefe908 207 mSpi.write(((address<<1) & 0x7E) | 0x01);
csharer 6:ae3e6aefe908 208 wait_us(1);
csharer 6:ae3e6aefe908 209 mSpi.write(data);
csharer 6:ae3e6aefe908 210 wait_us(1);
csharer 6:ae3e6aefe908 211 mCs = 1;
csharer 6:ae3e6aefe908 212 wait_us(1);
csharer 6:ae3e6aefe908 213 }
csharer 6:ae3e6aefe908 214
csharer 6:ae3e6aefe908 215 uint8_t MRF24J40::ReadLong (uint16_t address)
csharer 6:ae3e6aefe908 216 {
csharer 6:ae3e6aefe908 217 uint8_t value;
csharer 6:ae3e6aefe908 218 mCs = 0;
csharer 6:ae3e6aefe908 219 wait_us(1);
csharer 6:ae3e6aefe908 220 mSpi.write((address>>3) | 0x80);
csharer 6:ae3e6aefe908 221 wait_us(1);
csharer 6:ae3e6aefe908 222 mSpi.write((address<<5) & 0xE0);
csharer 6:ae3e6aefe908 223 wait_us(1);
csharer 6:ae3e6aefe908 224 value = mSpi.write(0xFF);
csharer 6:ae3e6aefe908 225 wait_us(1);
csharer 6:ae3e6aefe908 226 mCs = 1;
csharer 6:ae3e6aefe908 227 wait_us(1);
csharer 6:ae3e6aefe908 228 return value;
csharer 6:ae3e6aefe908 229 }
csharer 6:ae3e6aefe908 230
csharer 6:ae3e6aefe908 231 void MRF24J40::WriteLong (uint16_t address, uint8_t data)
csharer 6:ae3e6aefe908 232 {
csharer 6:ae3e6aefe908 233 mCs = 0;
csharer 6:ae3e6aefe908 234 wait_us(1);
csharer 6:ae3e6aefe908 235 mSpi.write((address>>3) | 0x80);
csharer 6:ae3e6aefe908 236 wait_us(1);
csharer 6:ae3e6aefe908 237 mSpi.write(((address<<5) & 0xE0) | 0x10);
csharer 6:ae3e6aefe908 238 wait_us(1);
csharer 6:ae3e6aefe908 239 mSpi.write(data);
csharer 6:ae3e6aefe908 240 wait_us(1);
csharer 6:ae3e6aefe908 241 mCs = 1;
csharer 6:ae3e6aefe908 242 wait_us(1);
csharer 6:ae3e6aefe908 243 }
csharer 6:ae3e6aefe908 244
csharer 6:ae3e6aefe908 245 void MRF24J40::SetChannel(uint8_t channel)
csharer 6:ae3e6aefe908 246 {
csharer 6:ae3e6aefe908 247 WriteLong(RFCTRL0, (channel & 0x0F)<<4 | 0x03); // Set channel, leave RFOPT bits at recommended
csharer 6:ae3e6aefe908 248
csharer 6:ae3e6aefe908 249 //Reset the board by first writing a 4 to RFCTL, then writing a 0
csharer 6:ae3e6aefe908 250 WriteShort(RFCTL, 0x04);
csharer 6:ae3e6aefe908 251 WriteShort(RFCTL, 0x00);
csharer 6:ae3e6aefe908 252 wait(0.5);
csharer 6:ae3e6aefe908 253 }