Diff: RH_NRF24.cpp

Revision:

0:ab4e012489ef

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RH_NRF24.cpp	Thu Oct 15 01:27:00 2015 +0000
@@ -0,0 +1,338 @@
+// NRF24.cpp
+//
+// Copyright (C) 2012 Mike McCauley
+// $Id: RH_NRF24.cpp,v 1.21 2015/03/29 03:53:47 mikem Exp $
+
+#include <RH_NRF24.h>
+
+RH_NRF24::RH_NRF24(PINS chipEnablePin, PINS slaveSelectPin, RHGenericSPI& spi)
+    :
+    RHNRFSPIDriver(slaveSelectPin, spi),
+    _rxBufValid(0)
+{
+    _configuration = RH_NRF24_EN_CRC | RH_NRF24_CRCO; // Default: 2 byte CRC enabled
+    _chipEnablePin = chipEnablePin;
+}
+
+bool RH_NRF24::init()
+{
+    // Teensy with nRF24 is unreliable at 8MHz:
+    // so is Arduino with RF73
+    _spi.setFrequency(RHGenericSPI::Frequency1MHz);
+    if (!RHNRFSPIDriver::init())
+	return false;
+
+    // Initialise the slave select pin
+#if (RH_PLATFORM != RH_PLATFORM_MBED)
+    pinMode(_chipEnablePin, OUTPUT);
+#endif
+    digitalWrite(_chipEnablePin, LOW);
+  
+    // Clear interrupts
+    spiWriteRegister(RH_NRF24_REG_07_STATUS, RH_NRF24_RX_DR | RH_NRF24_TX_DS | RH_NRF24_MAX_RT);
+    // Enable dynamic payload length on all pipes
+    spiWriteRegister(RH_NRF24_REG_1C_DYNPD, RH_NRF24_DPL_ALL);
+    // Enable dynamic payload length, disable payload-with-ack, enable noack
+    spiWriteRegister(RH_NRF24_REG_1D_FEATURE, RH_NRF24_EN_DPL | RH_NRF24_EN_DYN_ACK);
+    // Test if there is actually a device connected and responding
+    // CAUTION: RFM73 and version 2.0 silicon may require ACTIVATE
+    if (spiReadRegister(RH_NRF24_REG_1D_FEATURE) != (RH_NRF24_EN_DPL | RH_NRF24_EN_DYN_ACK))
+    { 
+	spiWrite(RH_NRF24_COMMAND_ACTIVATE, 0x73);
+        // Enable dynamic payload length, disable payload-with-ack, enable noack
+        spiWriteRegister(RH_NRF24_REG_1D_FEATURE, RH_NRF24_EN_DPL | RH_NRF24_EN_DYN_ACK);
+        if (spiReadRegister(RH_NRF24_REG_1D_FEATURE) != (RH_NRF24_EN_DPL | RH_NRF24_EN_DYN_ACK))
+            return false;
+    }
+
+    // Make sure we are powered down
+    setModeIdle();
+
+    // Flush FIFOs
+    flushTx();
+    flushRx();
+
+    setChannel(2); // The default, in case it was set by another app without powering down
+    setRF(RH_NRF24::DataRate2Mbps, RH_NRF24::TransmitPower0dBm);
+
+    return true;
+}
+
+// Use the register commands to read and write the registers
+uint8_t RH_NRF24::spiReadRegister(uint8_t reg)
+{
+    return spiRead((reg & RH_NRF24_REGISTER_MASK) | RH_NRF24_COMMAND_R_REGISTER);
+}
+
+uint8_t RH_NRF24::spiWriteRegister(uint8_t reg, uint8_t val)
+{
+    return spiWrite((reg & RH_NRF24_REGISTER_MASK) | RH_NRF24_COMMAND_W_REGISTER, val);
+}
+
+uint8_t RH_NRF24::spiBurstReadRegister(uint8_t reg, uint8_t* dest, uint8_t len)
+{
+    return spiBurstRead((reg & RH_NRF24_REGISTER_MASK) | RH_NRF24_COMMAND_R_REGISTER, dest, len);
+}
+
+uint8_t RH_NRF24::spiBurstWriteRegister(uint8_t reg, uint8_t* src, uint8_t len)
+{
+    return spiBurstWrite((reg & RH_NRF24_REGISTER_MASK) | RH_NRF24_COMMAND_W_REGISTER, src, len);
+}
+
+uint8_t RH_NRF24::statusRead()
+{
+    // status is a side-effect of NOP, faster than reading reg 07
+    return spiCommand(RH_NRF24_COMMAND_NOP); 
+}
+
+uint8_t RH_NRF24::flushTx()
+{
+    return spiCommand(RH_NRF24_COMMAND_FLUSH_TX);
+}
+
+uint8_t RH_NRF24::flushRx()
+{
+    return spiCommand(RH_NRF24_COMMAND_FLUSH_RX);
+}
+
+bool RH_NRF24::setChannel(uint8_t channel)
+{
+    spiWriteRegister(RH_NRF24_REG_05_RF_CH, channel & RH_NRF24_RF_CH);
+    return true;
+}
+
+bool RH_NRF24::setOpMode(uint8_t mode)
+{
+    _configuration = mode;
+    return true;
+}
+
+bool RH_NRF24::setNetworkAddress(uint8_t* address, uint8_t len)
+{
+    if (len < 3 || len > 5)
+	return false;
+
+    // Set both TX_ADDR and RX_ADDR_P0 for auto-ack with Enhanced shockwave
+    spiWriteRegister(RH_NRF24_REG_03_SETUP_AW, len-2);	// Mapping [3..5] = [1..3]
+    spiBurstWriteRegister(RH_NRF24_REG_0A_RX_ADDR_P0, address, len);
+    spiBurstWriteRegister(RH_NRF24_REG_10_TX_ADDR, address, len);
+    return true;
+}
+
+bool RH_NRF24::setRF(DataRate data_rate, TransmitPower power)
+{
+    uint8_t value = (power << 1) & RH_NRF24_PWR;
+    // Ugly mapping of data rates to noncontiguous 2 bits:
+    if (data_rate == DataRate250kbps)
+	value |= RH_NRF24_RF_DR_LOW;
+    else if (data_rate == DataRate2Mbps)
+	value |= RH_NRF24_RF_DR_HIGH;
+    // else DataRate1Mbps, 00
+
+    // RFM73 needs this:
+    value |= RH_NRF24_LNA_HCURR;
+    
+    spiWriteRegister(RH_NRF24_REG_06_RF_SETUP, value);
+    // If we were using auto-ack, we would have to set the appropriate timeout in reg 4 here
+    // see NRF24::setRF()
+    return true;
+}
+
+void RH_NRF24::setModeIdle()
+{
+    if (_mode != RHModeIdle)
+    {
+	spiWriteRegister(RH_NRF24_REG_00_CONFIG, _configuration);
+	digitalWrite(_chipEnablePin, LOW);
+	_mode = RHModeIdle;
+    }
+}
+
+bool RH_NRF24::sleep()
+{
+    if (_mode != RHModeSleep)
+    {
+	spiWriteRegister(RH_NRF24_REG_00_CONFIG, 0); // Power Down mode
+	digitalWrite(_chipEnablePin, LOW);
+	_mode = RHModeSleep;
+    }
+}
+
+void RH_NRF24::setModeRx()
+{
+    if (_mode != RHModeRx)
+    {
+	spiWriteRegister(RH_NRF24_REG_00_CONFIG, _configuration | RH_NRF24_PWR_UP | RH_NRF24_PRIM_RX);
+	digitalWrite(_chipEnablePin, HIGH);
+	_mode = RHModeRx;
+    }
+}
+
+void RH_NRF24::setModeTx()
+{
+    if (_mode != RHModeTx)
+    {
+	// Its the CE rising edge that puts us into TX mode
+	// CE staying high makes us go to standby-II when the packet is sent
+	digitalWrite(_chipEnablePin, LOW);
+	// Ensure DS is not set
+	spiWriteRegister(RH_NRF24_REG_07_STATUS, RH_NRF24_TX_DS | RH_NRF24_MAX_RT);
+	spiWriteRegister(RH_NRF24_REG_00_CONFIG, _configuration | RH_NRF24_PWR_UP);
+	digitalWrite(_chipEnablePin, HIGH);
+	_mode = RHModeTx;
+    }
+}
+
+bool RH_NRF24::send(const uint8_t* data, uint8_t len)
+{
+    if (len > RH_NRF24_MAX_MESSAGE_LEN)
+	return false;
+    // Set up the headers
+    _buf[0] = _txHeaderTo;
+    _buf[1] = _txHeaderFrom;
+    _buf[2] = _txHeaderId;
+    _buf[3] = _txHeaderFlags;
+    memcpy(_buf+RH_NRF24_HEADER_LEN, data, len);
+    spiBurstWrite(RH_NRF24_COMMAND_W_TX_PAYLOAD_NOACK, _buf, len + RH_NRF24_HEADER_LEN);
+    setModeTx();
+    // Radio will return to Standby II mode after transmission is complete
+    _txGood++;
+    return true;
+}
+
+bool RH_NRF24::waitPacketSent()
+{
+    // If we are not currently in transmit mode, there is no packet to wait for
+    if (_mode != RHModeTx)
+	return false;
+
+    // Wait for either the Data Sent or Max ReTries flag, signalling the 
+    // end of transmission
+    // We dont actually use auto-ack, so prob dont expect to see RH_NRF24_MAX_RT
+    uint8_t status;
+    while (!((status = statusRead()) & (RH_NRF24_TX_DS | RH_NRF24_MAX_RT)))
+	YIELD;
+
+    // Must clear RH_NRF24_MAX_RT if it is set, else no further comm
+    if (status & RH_NRF24_MAX_RT)
+	flushTx();
+    setModeIdle();
+    spiWriteRegister(RH_NRF24_REG_07_STATUS, RH_NRF24_TX_DS | RH_NRF24_MAX_RT);
+    // Return true if data sent, false if MAX_RT
+    return status & RH_NRF24_TX_DS;
+}
+
+bool RH_NRF24::isSending()
+{
+    return !(spiReadRegister(RH_NRF24_REG_00_CONFIG) & RH_NRF24_PRIM_RX) && 
+	   !(statusRead() & (RH_NRF24_TX_DS | RH_NRF24_MAX_RT));
+}
+
+bool RH_NRF24::printRegisters()
+{
+#ifdef RH_HAVE_SERIAL
+    // Iterate over register range, but don't process registers not in use.
+    for (uint8_t r = RH_NRF24_REG_00_CONFIG; r <= RH_NRF24_REG_1D_FEATURE; r++)
+    {
+      if ((r <= RH_NRF24_REG_17_FIFO_STATUS) || (r >= RH_NRF24_REG_1C_DYNPD))
+      {
+        Serial.print(r, HEX);
+        Serial.print(": ");
+        uint8_t len = 1;
+        // Address registers are 5 bytes in size
+        if (    (RH_NRF24_REG_0A_RX_ADDR_P0 == r)
+             || (RH_NRF24_REG_0B_RX_ADDR_P1 == r)
+             || (RH_NRF24_REG_10_TX_ADDR    == r) )
+        {
+          len = 5;
+        }
+        uint8_t buf[5];
+        spiBurstReadRegister(r, buf, len);
+        for (uint8_t j = 0; j < len; ++j)
+        {
+          Serial.print(buf[j], HEX);
+          Serial.print(" ");
+        }
+        Serial.println("");
+      }
+    }
+#endif
+
+    return true;
+}
+
+// Check whether the latest received message is complete and uncorrupted
+void RH_NRF24::validateRxBuf()
+{
+    if (_bufLen < 4)
+	return; // Too short to be a real message
+    // Extract the 4 headers
+    _rxHeaderTo    = _buf[0];
+    _rxHeaderFrom  = _buf[1];
+    _rxHeaderId    = _buf[2];
+    _rxHeaderFlags = _buf[3];
+    if (_promiscuous ||
+	_rxHeaderTo == _thisAddress ||
+	_rxHeaderTo == RH_BROADCAST_ADDRESS)
+    {
+	_rxGood++;
+	_rxBufValid = true;
+    }
+}
+
+bool RH_NRF24::available()
+{
+    if (!_rxBufValid)
+    {
+	if (_mode == RHModeTx)
+	    return false;
+	setModeRx();
+	if (spiReadRegister(RH_NRF24_REG_17_FIFO_STATUS) & RH_NRF24_RX_EMPTY)
+	    return false;
+	// Manual says that messages > 32 octets should be discarded
+	uint8_t len = spiRead(RH_NRF24_COMMAND_R_RX_PL_WID);
+	if (len > 32)
+	{
+	    flushRx();
+	    clearRxBuf();
+	    setModeIdle();
+	    return false;
+	}
+	// Clear read interrupt
+	spiWriteRegister(RH_NRF24_REG_07_STATUS, RH_NRF24_RX_DR);
+	// Get the message into the RX buffer, so we can inspect the headers
+	spiBurstRead(RH_NRF24_COMMAND_R_RX_PAYLOAD, _buf, len);
+	_bufLen = len;
+	// 140 microsecs (32 octet payload)
+	validateRxBuf(); 
+	if (_rxBufValid)
+	    setModeIdle(); // Got one
+    }
+    return _rxBufValid;
+}
+
+void RH_NRF24::clearRxBuf()
+{
+    _rxBufValid = false;
+    _bufLen = 0;
+}
+
+bool RH_NRF24::recv(uint8_t* buf, uint8_t* len)
+{
+    if (!available())
+	return false;
+    if (buf && len)
+    {
+	// Skip the 4 headers that are at the beginning of the rxBuf
+	if (*len > _bufLen-RH_NRF24_HEADER_LEN)
+	    *len = _bufLen-RH_NRF24_HEADER_LEN;
+	memcpy(buf, _buf+RH_NRF24_HEADER_LEN, *len);
+    }
+    clearRxBuf(); // This message accepted and cleared
+    return true;
+}
+
+uint8_t RH_NRF24::maxMessageLength()
+{
+    return RH_NRF24_MAX_MESSAGE_LEN;
+}