Diff: RadioHead.h

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+// RadioHead.h
+// Author: Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY
+// Copyright (C) 2014 Mike McCauley
+// $Id: RadioHead.h,v 1.50 2015/08/14 21:20:12 mikem Exp mikem $
+
+/// \mainpage RadioHead Packet Radio library for embedded microprocessors
+///
+/// This is the RadioHead Packet Radio library for embedded microprocessors.
+/// It provides a complete object-oriented library for sending and receiving packetized messages
+/// via a variety of common data radios and other transports on a range of embedded microprocessors.
+///
+/// The version of the package that this documentation refers to can be downloaded 
+/// from http://www.airspayce.com/mikem/arduino/RadioHead/RadioHead-1.48.zip
+/// You can find the latest version at http://www.airspayce.com/mikem/arduino/RadioHead
+///
+/// You can also find online help and discussion at 
+/// http://groups.google.com/group/radiohead-arduino
+/// Please use that group for all questions and discussions on this topic. 
+/// Do not contact the author directly, unless it is to discuss commercial licensing.
+/// Before asking a question or reporting a bug, please read 
+/// - http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question
+/// - http://www.catb.org/esr/faqs/smart-questions.html
+/// - http://www.chiark.greenend.org.uk/~shgtatham/bugs.html
+///
+/// \par Overview
+///
+/// RadioHead consists of 2 main sets of classes: Drivers and Managers.
+///
+/// - Drivers provide low level access to a range of different packet radios and other packetized message transports.
+/// - Managers provide high level message sending and receiving facilities for a range of different requirements.
+///
+/// Every RadioHead program will have an instance of a Driver to provide access to the data radio or transport, 
+/// and a Manager that uses that driver to send and receive messages for the application. The programmer is required
+/// to instantiate a Driver and a Manager, and to initialise the Manager. Thereafter the facilities of the Manager
+/// can be used to send and receive messages.
+///
+/// It is also possible to use a Driver on its own, without a Manager, although this only allows unaddressed, 
+/// unreliable transport via the Driver's facilities.
+///
+/// In some specialised use cases, it is possible to instantiate more than one Driver and more than one Manager.
+///
+/// A range of different common embedded microprocessor platforms are supported, allowing your project to run
+/// on your choice of processor.
+///
+/// Example programs are included to show the main modes of use.
+///
+/// \par Drivers
+///
+/// The following Drivers are provided:
+///
+/// - RH_RF22
+/// Works with Hope-RF
+/// RF22B and RF23B based transceivers, and compatible chips and modules, 
+/// including the RFM22B transceiver module such as 
+/// this bare module: http://www.sparkfun.com/products/10153
+/// and this shield: http://www.sparkfun.com/products/11018 
+/// and this board: http://www.anarduino.com/miniwireless
+/// and RF23BP modules such as: http://www.anarduino.com/details.jsp?pid=130
+/// Supports GFSK, FSK and OOK. Access to other chip 
+/// features such as on-chip temperature measurement, analog-digital 
+/// converter, transmitter power control etc is also provided.
+///
+/// - RH_RF24
+/// Works with Silicon Labs Si4460/4461/4463/4464 family of transceivers chip, and the equivalent
+/// HopeRF RF24/26/27 family of chips and the HopeRF RFM24W/26W/27W modules.
+/// Supports GFSK, FSK and OOK. Access to other chip 
+/// features such as on-chip temperature measurement, analog-digital 
+/// converter, transmitter power control etc is also provided.
+///
+/// - RH_RF69 
+/// Works with Hope-RF
+/// RF69B based radio modules, such as the RFM69 module, (as used on the excellent Moteino and Moteino-USB 
+/// boards from LowPowerLab http://lowpowerlab.com/moteino/ )
+/// and compatible chips and modules such as RFM69W, RFM69HW, RFM69CW, RFM69HCW (Semtech SX1231, SX1231H).
+/// Also works with Anarduino MiniWireless -CW and -HW boards http://www.anarduino.com/miniwireless/ including
+/// the marvellous high powered MinWireless-HW (with 20dBm output for excellent range).
+/// Supports GFSK, FSK.
+///
+/// - RH_NRF24
+/// Works with Nordic nRF24 based 2.4GHz radio modules, such as nRF24L01 and others.
+/// Also works with Hope-RF RFM73 
+/// and compatible devices (such as BK2423). nRF24L01 and RFM73 can interoperate
+/// with each other.
+///
+/// - RH_NRF905
+/// Works with Nordic nRF905 based 433/868/915 MHz radio modules.
+///
+/// - RH_NRF51
+/// Works with Nordic nRF51 compatible 2.4 GHz SoC/devices such as the nRF51822.
+///
+/// - RH_RF95
+/// Works with Semtech SX1276/77/78 and HopeRF RFM95/96/97/98 and other similar LoRa capable radios.
+/// Supports Long Range (LoRa) with spread spectrum frequency hopping, large payloads etc.
+/// FSK/GFSK/OOK modes are not (yet) supported.
+///
+/// - RH_ASK
+/// Works with a range of inexpensive ASK (amplitude shift keying) RF transceivers such as RX-B1 
+/// (also known as ST-RX04-ASK) receiver; TX-C1 transmitter and DR3100 transceiver; FS1000A/XY-MK-5V transceiver;
+/// HopeRF RFM83C / RFM85. Supports ASK (OOK).
+///
+/// - RH_Serial
+/// Works with RS232, RS422, RS485, RS488 and other point-to-point and multidropped serial connections, 
+/// or with TTL serial UARTs such as those on Arduino and many other processors,
+/// or with data radios with a 
+/// serial port interface. RH_Serial provides packetization and error detection over any hardware or 
+/// virtual serial connection. Also builds and runs on Linux and OSX.
+///
+/// - RH_TCP
+/// For use with simulated sketches compiled and running on Linux.
+/// Works with tools/etherSimulator.pl to pass messages between simulated sketches, allowing
+/// testing of Manager classes on Linux and without need for real radios or other transport hardware.
+///
+/// Drivers can be used on their own to provide unaddressed, unreliable datagrams. 
+/// All drivers have the same identical API.
+/// Or you can use any Driver with any of the Managers described below.
+///
+/// We welcome contributions of well tested and well documented code to support other transports.
+///
+/// \par Managers
+///
+/// The following Mangers are provided:
+///
+/// - RHDatagram
+/// Addressed, unreliable variable length messages, with optional broadcast facilities.
+///
+/// - RHReliableDatagram
+/// Addressed, reliable, retransmitted, acknowledged variable length messages.
+///
+/// - RHRouter
+/// Multi-hop delivery from source node to destination node via 0 or more intermediate nodes, with manual routing.
+///
+/// - RHMesh
+/// Multi-hop delivery with automatic route discovery and rediscovery.
+///
+/// Any Manager may be used with any Driver.
+///
+/// \par Platforms
+/// 
+/// A range of platforms is supported:
+///
+/// - Arduino and the Arduino IDE (version 1.0 to 1.6.5 and later)
+/// Including Diecimila, Uno, Mega, Leonardo, Yun, Due, Zero etc. http://arduino.cc/, Also similar boards such as 
+///  - Moteino http://lowpowerlab.com/moteino/ 
+///  - Anarduino Mini http://www.anarduino.com/mini/ 
+///  - RedBearLab Blend V1.0 http://redbearlab.com/blend/ (with Arduino 1.0.5 and RedBearLab Blend Add-On version 20140701) 
+///  -  MoteinoMEGA https://lowpowerlab.com/shop/moteinomega 
+///     (with Arduino 1.0.5 and the MoteinoMEGA Arduino Core 
+///     https://github.com/LowPowerLab/Moteino/tree/master/MEGA/Core)
+///  - etc.
+///
+/// - ChipKit Uno32 board and the MPIDE development environment
+/// http://www.digilentinc.com/Products/Detail.cfm?Prod=CHIPKIT-UNO32
+///
+/// - Maple and Flymaple boards with libmaple and the Maple-IDE development environment
+/// http://leaflabs.com/devices/maple/ and http://www.open-drone.org/flymaple
+///
+/// - Teensy including Teensy 3.1 and earlier built using Arduino IDE 1.0.5 to 1.6.4 and later with 
+///   teensyduino addon 1.18 to 1.23 and later.
+///   http://www.pjrc.com/teensy
+///
+/// - ATtiny built using Arduino IDE 1.0.5 with the arduino-tiny support from https://code.google.com/p/arduino-tiny/
+///   (Caution: these are very small processors and not all RadioHead features may be available, depending on memory requirements)
+///
+/// - nRF51 compatible Arm chips such as nRF51822 with Arduino 1.6.4 and later using the procedures
+///   in http://redbearlab.com/getting-started-nrf51822/
+///
+/// - Raspberry Pi
+///   Uses BCM2835 library for GPIO http://www.airspayce.com/mikem/bcm2835/
+///   Currently works only with RH_NRF24 driver or other drivers that do not require interrupt support.
+///   Contributed by Mike Poublon.
+///
+/// - Linux and OSX
+///   Using the RHutil/HardwareSerial class, the RH_Serial driver and any manager will
+///   build and run on Linux and OSX. These can be used to build programs that talk securely and reliably to
+///   Arduino and other processors or to other Linux or OSX hosts on a reliable, error detected datagram
+///   protocol over a serial line.
+///
+/// Other platforms are partially supported, such as Generic AVR 8 bit processors, MSP430. 
+/// We welcome contributions that will expand the range of supported platforms. 
+///
+/// RadioHead is available (through the efforts of others) 
+/// for PlatformIO. PlatformIO is a cross-platform code builder and the missing library manager.
+/// http://platformio.org/#!/lib/show/124/RadioHead
+///
+/// \par History
+///
+/// RadioHead was created in April 2014, substantially based on code from some of our other earlier Radio libraries:
+///
+/// - RHMesh, RHRouter, RHReliableDatagram and RHDatagram are derived from the RF22 library version 1.39.
+/// - RH_RF22 is derived from the RF22 library version 1.39.
+/// - RH_RF69 is derived from the RF69 library version 1.2.
+/// - RH_ASK is based on the VirtualWire library version 1.26, after significant conversion to C++.
+/// - RH_Serial was new.
+/// - RH_NRF24 is based on the NRF24 library version 1.12, with some significant changes.
+///
+/// During this combination and redevelopment, we have tried to retain all the processor dependencies and support from
+/// the libraries that were contributed by other people. However not all platforms can be tested by us, so if you
+/// find that support from some platform has not been successfully migrated, please feel free to fix it and send us a 
+/// patch.
+///
+/// Users of RHMesh, RHRouter, RHReliableDatagram and RHDatagram in the previous RF22 library will find that their
+/// existing code will run mostly without modification. See the RH_RF22 documentation for more details.
+///
+/// \par Installation
+///
+/// Install in the usual way: unzip the distribution zip file to the libraries
+/// sub-folder of your sketchbook. 
+/// The example sketches will be visible in in your Arduino, mpide, maple-ide or whatever.
+/// http://arduino.cc/en/Guide/Libraries
+///
+/// \par Compatible Hardware Suppliers
+///
+/// We have had good experiences with the following suppliers of RadioHead compatible hardware:
+///
+/// - LittleBird http://littlebirdelectronics.com.au in Australia for all manner of Arduinos and radios.
+/// - LowPowerLab http://lowpowerlab.com/moteino in USA for the excellent Moteino and Moteino-USB 
+///   boards which include Hope-RF RF69B radios on-board.
+/// - Anarduino and HopeRF USA (http://www.hoperfusa.com and http://www.anarduino.com) who have a wide range
+///   of HopeRF radios and Arduino integrated modules.
+/// - SparkFun https://www.sparkfun.com/ in USA who design and sell a wide range of Arduinos and radio modules.
+///
+/// \par Donations
+///
+/// This library is offered under a free GPL license for those who want to use it that way. 
+/// We try hard to keep it up to date, fix bugs
+/// and to provide free support. If this library has helped you save time or money, please consider donating at
+/// http://www.airspayce.com or here:
+///
+/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="RadioHead" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
+/// 
+/// \par Trademarks
+///
+/// RadioHead is a trademark of AirSpayce Pty Ltd. The RadioHead mark was first used on April 12 2014 for
+/// international trade, and is used only in relation to data communications hardware and software and related services.
+/// It is not to be confused with any other similar marks covering other goods and services.
+///
+/// \par Copyright
+///
+/// This software is Copyright (C) 2011-2014 Mike McCauley. Use is subject to license
+/// conditions. The main licensing options available are GPL V2 or Commercial:
+/// 
+/// \par Open Source Licensing GPL V2
+///
+/// This is the appropriate option if you want to share the source code of your
+/// application with everyone you distribute it to, and you also want to give them
+/// the right to share who uses it. If you wish to use this software under Open
+/// Source Licensing, you must contribute all your source code to the open source
+/// community in accordance with the GPL Version 2 when your application is
+/// distributed. See http://www.gnu.org/copyleft/gpl.html
+/// 
+/// \par Commercial Licensing
+///
+/// This is the appropriate option if you are creating proprietary applications
+/// and you are not prepared to distribute and share the source code of your
+/// application. Contact info@airspayce.com for details (do not use this address for anything other than 
+/// commercial license enquiries. For all other queries, using the RadioHead mailing list).
+///
+/// \par Revision History
+/// \version 1.1 2014-04-14<br>
+///              Initial public release
+/// \version 1.2 2014-04-23<br>
+///              Fixed various typos. <br>
+///              Added links to compatible Anarduino products.<br>
+///              Added RHNRFSPIDriver, RH_NRF24 classes to support Nordic NRF24 based radios.
+/// \version 1.3 2014-04-28<br>
+///              Various documentation fixups.<br>
+///              RHDatagram::setThisAddress() did not set the local copy of thisAddress. Reported by Steve Childress.<br>
+///              Fixed a problem on Teensy with RF22 and RF69, where the interrupt pin needs to be set for input, <br>
+///              else pin interrupt doesn't work properly. Reported by Steve Childress and patched by 
+///              Adrien van den Bossche. Thanks.<br>
+///              Fixed a problem that prevented RF22 honouring setPromiscuous(true). Reported by Steve Childress.<br>
+///              Updated documentation to clarify some issues to do with maximum message lengths 
+///              reported by Steve Childress.<br>
+///              Added support for yield() on systems that support it (currently Arduino 1.5.5 and later)
+///              so that spin-loops can suport multitasking. Suggested by Steve Childress.<br>
+///              Added RH_RF22::setGpioReversed() so the reversal it can be configured at run-time after
+///              radio initialisation. It must now be called _after_ init(). Suggested by Steve Childress.<br>
+/// \version 1.4 2014-04-29<br>
+///              Fixed further problems with Teensy compatibility for RH_RF22. Tested on Teensy 3.1.
+///              The example/rf22_* examples now run out of the box with the wiring connections as documented for Teensy
+///              in RH_RF22.<br>
+///              Added YIELDs to spin-loops in RHRouter, RHMesh and RHReliableDatagram, RH_NRF24.<br>
+///              Tested RH_Serial examples with Teensy 3.1: they now run out of the box.<br>
+///              Tested RH_ASK examples with Teensy 3.1: they now run out of the box.<br>
+///              Reduced default SPI speed for NRF24 from 8MHz to 1MHz on Teensy, to improve reliability when
+///              poor wiring is in use.<br>
+///              on some devices such as Teensy.<br>
+///              Tested RH_NRF24 examples with Teensy 3.1: they now run out of the box.<br>
+/// \version 1.5 2014-04-29<br>
+///              Added support for Nordic Semiconductor nRF905 transceiver with RH_NRF905 driver. Also
+///              added examples for nRF905 and tested on Teensy 3.1
+/// \version 1.6 2014-04-30<br>
+///              NRF905 examples were missing
+/// \version 1.7 2014-05-03<br>
+///              Added support for Arduino Due. Tested with RH_NRF905, RH_Serial, RH_ASK.
+///              IMPORTANT CHANGE to interrupt pins on Arduino with RH_RF22 and RH_RF69 constructors:
+///              previously, you had to specify the interrupt _number_ not the interrupt _pin_. Arduinos and Uno32
+///              are now consistent with all other platforms: you must specify the interrupt pin number. Default
+///              changed to pin 2 (a common choice with RF22 shields).
+///              Removed examples/maple/maple_rf22_reliable_datagram_client and 
+///              examples/maple/maple_rf22_reliable_datagram_client since the rf22 examples now work out
+///              of the box with Flymaple.
+///              Removed examples/uno32/uno32_rf22_reliable_datagram_client and 
+///              examples/uno32/uno32_rf22_reliable_datagram_client since the rf22 examples now work out
+///              of the box with ChipKit Uno32.
+/// \version 1.8 2014-05-08 <br>
+///              Added support for YIELD in Teensy 2 and 3, suggested by Steve Childress.<br>
+///              Documentation updates. Clarify use of headers and Flags<br>
+///              Fixed misalignment in RH_RF69 between ModemConfigChoice definitions and the implemented choices
+///              which meant you didnt get the choice you thought and GFSK_Rb55555Fd50 hung the transmitter.<br>
+///              Preliminary work on Linux simulator.
+/// \version 1.9 2014-05-14 <br>
+///              Added support for using Timer 2 instead of Timer 1 on Arduino in RH_ASK when
+///              RH_ASK_ARDUINO_USE_TIMER2 is defined. With the kind assistance of
+///              Luc Small. Thanks!<br>
+///              Updated comments in RHReliableDatagram concerning servers, retries, timeouts and delays.
+///              Fixed an error in RHReliableDatagram where recvfrom return value was not checked.
+///              Reported by Steve Childress.<br>
+///              Added Linux simulator support so simple RadioHead sketches can be compiled and run on Linux.<br>
+///              Added RH_TCP driver to permit message passing between simulated sketches on Linux.<br>
+///              Added example simulator sketches.<br>
+///              Added tools/etherSimulator.pl, a simulator of the 'Luminiferous Ether' that passes
+///              messages between simulated sketches and can simulate random message loss etc.<br>
+///              Fixed a number of typos and improved some documentation.<br>
+/// \version 1.10 2014-05-15 <br>
+///              Added support for RFM73 modules to RH_NRF24. These 2 radios are very similar, and can interoperate
+///              with each other. Added new RH_NRF24::TransmitPower enums for the RFM73, which has a different 
+///              range of available powers<br>
+///              reduced the default SPI bus speed for RH_NRF24 to 1MHz, since so many modules and CPU have problems
+///              with 8MHz.<br>
+/// \version 1.11 2014-05-18<br>
+///              Testing RH_RF22 with RFM23BP and 3.3V Teensy 3.1 and 5V Arduinos. 
+///              Updated documentation with respect to GPIO and antenna
+///              control pins for RFM23. Updated documentation with respect to transmitter power control for RFM23<br>
+///              Fixed a problem with RH_RF22 driver, where GPIO TX and RX pins were not configured during
+///              initialisation, causing poor transmit power and sensitivity on those RF22/RF23 devices where GPIO controls
+///              the antenna selection pins.
+/// \version 1.12 2014-05-20<br>
+///              Testing with RF69HW and the RH_RF69 driver. Works well with the Anarduino MiniWireless -CW and -HW 
+///              boards http://www.anarduino.com/miniwireless/ including
+///              the marvellous high powered MinWireless-HW (with 20dBm output for excellent range).<br>
+///              Clarified documentation of RH_RF69::setTxPower values for different models of RF69.<br>
+///              Added RHReliableDatagram::resetRetransmissions().<br>
+///              Retransmission count precision increased to uin32_t.<br>
+///              Added data about actual power measurements from RFM22 module.<br>
+/// \version 1.13 2014-05-23<br>
+///              setHeaderFlags(flags) changed to setHeaderFlags(set, clear), enabling any flags to be
+///              individually set and cleared by either RadioHead or application code. Requested by Steve Childress.<br>
+///              Fixed power output setting for boost power on RF69HW for 18, 19 and 20dBm.<br>
+///              Added data about actual power measurements from RFM69W and RFM69HW modules.<br>
+/// \version 1.14 2014-05-26<br>
+///              RH_RF69::init() now always sets the PA boost back to the default settings, else can get invalid
+///              PA power modes after uploading new sketches without a power cycle. Reported by Bryan.<br>
+///              Added new macros RH_VERSION_MAJOR RH_VERSION_MINOR, with automatic maintenance in Makefile.<br>
+///              Improvements to RH_TCP: constructor now honours the server argument in the form "servername:port".<br>
+///              Added YIELD to RHReliableDatagram::recvfromAckTimeout. Requested by Steve Childress.<br>
+///              Fixed a problem with RH_RF22 reliable datagram acknowledgements that was introduced in version 1.13.
+///              Reported by Steve Childress.<br>
+/// \version 1.15 2014-05-27<br>
+///              Fixed a problem with the RadioHead .zip link.
+/// \version 1.16 2014-05-30 <br>
+///              Fixed RH_RF22 so that lastRssi() returns the signal strength in dBm. Suggested by Steve Childress.<br>
+///              Added support for getLastPreambleTime() to RH_RF69. Requested by Steve Childress.<br>
+///              RH_NRF24::init() now checks if there is a device connected and responding, else init() will fail.
+///              Suggested by Steve Brown.<br>
+///              RHSoftwareSPI now initialises default values for SPI pins MOSI = 12, MISO = 11 and SCK = 13.<br>
+///              Fixed some problems that prevented RH_NRF24 working with mixed software and hardware SPI 
+///              on different devices: a race condition
+///              due to slow SPI transfers and fast acknowledgement.<br>
+/// \version 1.17 2014-06-02 <br>
+///              Fixed a debug typo in RHReliableDatagram that was introduced in 1.16.<br>
+///              RH_NRF24 now sets default power, data rate and channel in init(), in case another
+///              app has previously set different values without powerdown.<br>
+///              Caution: there are still problems with RH_NRF24 and Software SPI. Do not use.<br>
+/// \version 1.18 2014-06-02<br>
+///              Improvements to performance of RH_NRF24 statusRead, allowing RH_NRF24 and Software SPI
+///              to operate on slow devices like Arduino Uno.<br>
+/// \version 1.19 2014-06-19<br>
+///              Added examples ask_transmitter.pde and ask_receiver.pde.<br>
+///              Fixed an error in the RH_RF22 doc for connection of Teensy to RF22.<br>
+///              Improved documentation of start symbol bit patterns in RH_ASK.cpp
+/// \version 1.20 2014-06-24<br>
+///              Fixed a problem with compiling on platforms such as ATTiny where SS is not defined.<br>
+///              Added YIELD to RHMesh::recvfromAckTimeout().<br>
+/// \version 1.21 2014-06-24<br>
+///              Fixed an issue in RH_Serial where characters might be lost with back-to-back frames.
+///              Suggested by Steve Childress.<br>
+///              Brought previous RHutil/crc16.h code into mainline RHCRC.cpp to prevent name collisions
+///              with other similarly named code in other libraries. Suggested by Steve Childress.<br>
+///              Fix SPI bus speed errors on 8MHz Arduinos.
+/// \version 1.22 2014-07-01<br>
+///              Update RH_ASK documentation for common wiring connections.<br>
+///              Testing RH_ASK with HopeRF RFM83C/RFM85 courtesy Anarduino http://www.anarduino.com/<br>
+///              Testing RH_NRF24 with Itead Studio IBoard Pro http://imall.iteadstudio.com/iboard-pro.html
+///              using both hardware SPI on the ITDB02 Parallel LCD Module Interface pins and software SPI
+///              on the nRF24L01+ Module Interface pins. Documented wiring required.<br>
+///              Added support for AVR 1284 and 1284p, contributed by Peter Scargill.
+///              Added support for Semtech SX1276/77/78 and HopeRF RFM95/96/97/98 and other similar LoRa capable radios
+///              in LoRa mode only. Tested with the excellent MiniWirelessLoRa from 
+///              Anarduino http://www.anarduino.com/miniwireless<br>
+/// \version 1.23 2014-07-03<br>
+///              Changed the default modulation for RH_RF69 to GFSK_Rb250Fd250, since the previous default
+///              was not very reliable.<br>
+///              Documented RH_RF95 range tests.<br>
+///              Improvements to RH_RF22 RSSI readings so that lastRssi correctly returns the last message in dBm.<br>
+/// \version 1.24 2014-07-18
+///              Added support for building RadioHead for STM32F4 Discovery boards, using the native STM Firmware libraries,
+///              in order to support Codec2WalkieTalkie (http://www.airspayce.com/mikem/Codec2WalkieTalkie)
+///              and other projects. See STM32ArduinoCompat.<br>
+///              Default modulation for RH_RF95 was incorrectly set to a very slow Bw125Cr48Sf4096
+/// \version 1.25 2014-07-25
+///              The available() function will longer terminate any current transmission, and force receive mode. 
+///              Now, if there is no unprocessed incoming message and an outgoing message is currently being transmitted, 
+///              available() will return false.<br>
+///              RHRouter::sendtoWait(uint8_t*, uint8_t, uint8_t, uint8_t) renamed to sendtoFromSourceWait due to conflicts
+///              with new sendtoWait() with optional flags.<br>
+///              RHMEsh and RHRouter already supported end-to-end application layer flags, but RHMesh::sendtoWait() 
+///              and RHRouter::sendToWait have now been extended to expose a way to send optional application layer flags.
+/// \version 1.26 2014-08-12
+///              Fixed a Teensy 2.0 compile problem due yield() not available on Teensy < 3.0. <br>
+///              Adjusted the algorithm of RH_RF69::temperatureRead() to more closely reflect reality.<br>
+///              Added functions to RHGenericDriver to get driver packet statistics: rxBad(), rxGood(), txGood().<br>
+///              Added RH_RF69::printRegisters().<br>
+///              RH_RF95::printRegisters() was incorrectly printing the register index instead of the address.
+///              Reported by Phang Moh Lim.<br>
+///              RH_RF95, added definitions for some more registers that are usable in LoRa mode.<br>
+///              RH_RF95::setTxPower now uses RH_RF95_PA_DAC_ENABLE to achieve 21, 22 and 23dBm.<br>
+///              RH_RF95, updated power output measurements.<br>
+///              Testing RH_RF69 on Teensy 3.1 with RF69 on PJRC breakout board. OK.<br>
+///              Improvements so RadioHead will build under Arduino where SPI is not supported, such as 
+///              ATTiny.<br>
+///              Improvements so RadioHead will build for ATTiny using Arduino IDE and tinycore arduino-tiny-0100-0018.zip.<br>
+///              Testing RH_ASK on ATTiny85. Reduced RAM footprint. 
+///              Added helpful documentation. Caution: RAM memory is *very* tight on this platform.<br>
+///              RH_RF22 and RH_RF69, added setIdleMode() function to allow the idle mode radio operating state
+///              to be controlled for lower idle power consumption at the expense of slower transitions to TX and RX.<br>
+/// \version 1.27 2014-08-13
+///              All RH_RF69 modulation schemes now have data whitening enabled by default.<br>
+///              Tested and added a number of OOK modulation schemes to RH_RF69 Modem config table.<br>
+///              Minor improvements to a number of the faster RH_RF69 modulation schemes, but some slower ones
+///              are still not working correctly.<br>
+/// \version 1.28 2014-08-20
+///              Added new RH_RF24 driver to support Si446x, RF24/26/26, RFM24/26/27 family of transceivers.
+///              Tested with the excellent
+///              Anarduino Mini and RFM24W and RFM26W with the generous assistance of the good people at 
+///              Anarduino http://www.anarduino.com.
+/// \version 1.29 2014-08-21
+///              Fixed a compile error in RH_RF24 introduced at the last minute in hte previous release.<br>
+///              Improvements to RH_RF69 modulation schemes: now include the AFCBW in teh ModemConfig.<br>
+///              ModemConfig RH_RF69::FSK_Rb2Fd5 and RH_RF69::GFSK_Rb2Fd5 are now working.<br> 
+/// \version 1.30 2014-08-25
+///              Fixed some compile problems with ATtiny84 on Arduino 1.5.5 reported by Glen Cook.<br>
+/// \version 1.31 2014-08-27
+///              Changed RH_RF69 FSK and GFSK modulations from Rb2_4Fd2_4 to Rb2_4Fd4_8 and FSK_Rb4_8Fd4_8 to FSK_Rb4_8Fd9_6
+///              since the previous ones were unreliable (they had modulation indexes of 1).<br>
+/// \version 1.32 2014-08-28
+///              Testing with RedBearLab Blend board http://redbearlab.com/blend/. OK.<br>
+///              Changed more RH_RF69 FSK and GFSK slowish modulations to have modulation index of 2 instead of 1. 
+///              This required chnaging the symbolic names.<br>
+/// \version 1.33 2014-09-01
+///              Added support for sleep mode in RHGeneric driver, with new mode 
+///              RHModeSleep and new virtual function sleep().<br>
+///              Added support for sleep to RH_RF69, RH_RF22, RH_NRF24, RH_RF24, RH_RF95 drivers.<br>
+/// \version 1.34 2014-09-19
+///              Fixed compile errors in example rf22_router_test.<br>
+///              Fixed a problem with RH_NRF24::setNetworkAddress, also improvements to RH_NRF24 register printing.
+///              Patched by Yveaux.<br>
+///              Improvements to RH_NRF24 initialisation for version 2.0 silicon.<br>
+///              Fixed problem with ambigiguous print call in RH_RFM69 when compiling for Codec2.<br>
+///              Fixed a problem with RH_NRF24 on RFM73 where the LNA gain was not set properly, reducing the sensitivity
+///              of the receiver.
+/// \version 1.35 2014-09-19
+///              Fixed a problem with interrupt setup on RH_RF95 with Teensy3.1. Reported by AD.<br>
+/// \version 1.36 2014-09-22
+///              Improvements to interrupt pin assignments for __AVR_ATmega1284__ and__AVR_ATmega1284P__, provided by
+///              Peter Scargill.<br>
+///              Work around a bug in Arduino 1.0.6 where digitalPinToInterrupt is defined but NOT_AN_INTERRUPT is not.<br>
+///  \version 1.37 2014-10-19
+///              Updated doc for connecting RH_NRF24 to Arduino Mega.<br>
+///              Changes to RHGenericDriver::setHeaderFlags(), so that the default for the clear argument
+///              is now RH_FLAGS_APPLICATION_SPECIFIC, which is less surprising to users.
+///              Testing with the excellent MoteinoMEGA from LowPowerLab 
+///              https://lowpowerlab.com/shop/moteinomega with on-board RFM69W.
+///  \version 1.38 2014-12-29
+///              Fixed compile warning on some platforms where RH_RF24::send and RH_RF24::writeTxFifo 
+///              did not return a value.<br>
+///              Fixed some more compiler warnings in RH_RF24 on some platforms.<br>
+///              Refactored printRegisters for some radios. Printing to Serial
+///              is now controlled by the definition of RH_HAVE_SERIAL.<br>
+///              Added partial support for ARM M4 w/CMSIS with STM's Hardware Abstraction lib for 
+///              Steve Childress.<br>
+///  \version 1.39 2014-12-30
+///              Fix some compiler warnings under IAR.<br>
+///              RH_HAVE_SERIAL and Serial.print calls removed for ATTiny platforms.<br>
+///  \version 1.40 2015-03-09
+///              Added notice about availability on PlatformIO, thanks to Ivan Kravets.<br>
+///              Fixed a problem with RH_NRF24 where short packet lengths would occasionally not be trasmitted
+///              due to a race condition with RH_NRF24_TX_DS. Reported by Mark Fox.<br>
+///  \version 1.41 2015-03-29
+///              RH_RF22, RH_RF24, RH_RF69 and RH_RF95 improved to allow driver.init() to be called multiple
+///              times without reallocating a new interrupt, allowing the driver to be reinitialised
+///              after sleeping or powering down.
+///  \version 1.42 2015-05-17
+///              Added support for RH_NRF24 driver on Raspberry Pi, using BCM2835
+///              library for GPIO pin IO. Contributed by Mike Poublon.<br>
+///              Tested RH_NRF24 module with NRF24L01+PA+LNA SMA Antenna Wireless Transceiver modules
+///              similar to: http://www.elecfreaks.com/wiki/index.php?title=2.4G_Wireless_nRF24L01p_with_PA_and_LNA
+///              works with no software changes. Measured max power output 18dBm.<br>
+///  \version 1.43 2015-08-02
+///              Added RH_NRF51 driver to support Nordic nRF51 family processor with 2.4GHz radio such 
+///              as nRF51822, to be built on Arduino 1.6.4 and later. Tested with RedBearLabs nRF51822 board
+///              and BLE Nano kit<br>
+///  \version 1.44 2015-08-08
+///              Fixed errors with compiling on some platforms without serial, such as ATTiny. 
+///              Reported by Friedrich Müller.<br>
+///  \version 1.45 2015-08-13
+///              Added support for using RH_Serial on Linux and OSX (new class RHutil/HardwareSerial
+///              encapsulates serial ports on those platforms). Example examples/serial*/* upgraded
+///              to build and run on Linux and OSX using the tools/simBuild builder.
+///              RHMesh, RHRouter and RHReliableDatagram updated so they can use RH_Serial without
+///              polling loops on Linux and OSX for CPU efficiency.<br>
+///  \version 1.46 2015-08-14
+///              Amplified some doc concerning Linux and OSX RH_Serial. Added support for 230400
+///              baud rate in HardwareSerial.<br>
+///              Added sample sketches nrf51_audio_tx and nrf51_audio_rx which show how to
+///              build an audio TX/RX pair with RedBear nRF51822 boards and a SparkFun MCP4725 DAC board.
+///              Uses the built-in ADC of the nRF51822 to sample audio at 5kHz and transmit packets
+///              to the receiver which plays them via the DAC.<br>
+/// \version 1.47 2015-09-18
+///              Removed top level Makefile from distribution: its only used by the developer and 
+///              its presence confuses some people.<br>
+///              Fixed a problem with RHReliableDatagram with some versions of Raspberry Pi random() that causes 
+///              problems: random(min, max) sometimes exceeds its max limit.
+/// \version 1.48 2015-09-30
+///              Added support for Arduino Zero. Tested on Arduino Zero Pro.
+///
+/// \author  Mike McCauley. DO NOT CONTACT THE AUTHOR DIRECTLY. USE THE MAILING LIST GIVEN ABOVE
+
+#ifndef RadioHead_h
+#define RadioHead_h
+
+// Official version numbers are maintained automatically by Makefile:
+#define RH_VERSION_MAJOR 1
+#define RH_VERSION_MINOR 48
+
+// Symbolic names for currently supported platform types
+#define RH_PLATFORM_ARDUINO          1
+#define RH_PLATFORM_MSP430           2
+#define RH_PLATFORM_STM32            3
+#define RH_PLATFORM_GENERIC_AVR8     4
+#define RH_PLATFORM_UNO32            5
+#define RH_PLATFORM_UNIX             6
+#define RH_PLATFORM_STM32STD         7
+#define RH_PLATFORM_STM32F4_HAL      8 
+#define RH_PLATFORM_RASPI            9
+#define RH_PLATFORM_NRF51            10
+
+////////////////////////////////////////////////////
+// Select platform automatically, if possible
+#ifndef RH_PLATFORM
+ #if defined(MPIDE)
+  #define RH_PLATFORM RH_PLATFORM_UNO32
+ #elif defined(NRF51)
+  #define RH_PLATFORM RH_PLATFORM_NRF51
+ #elif defined(ARDUINO)
+  #define RH_PLATFORM RH_PLATFORM_ARDUINO
+ #elif defined(__MSP430G2452__) || defined(__MSP430G2553__)
+  #define RH_PLATFORM RH_PLATFORM_MSP430
+ #elif defined(MCU_STM32F103RE)
+  #define RH_PLATFORM RH_PLATFORM_STM32
+ #elif defined(USE_STDPERIPH_DRIVER)
+  #define RH_PLATFORM RH_PLATFORM_STM32STD
+ #elif defined(RASPBERRY_PI)
+  #define RH_PLATFORM RH_PLATFORM_RASPI
+#elif defined(__unix__) // Linux
+  #define RH_PLATFORM RH_PLATFORM_UNIX
+#elif defined(__APPLE__) // OSX
+  #define RH_PLATFORM RH_PLATFORM_UNIX
+#elif defined(TARGET_STM32F407)		// Mbed STM32F4
+  #define RH_PLATFORM RH_PLATFORM_MBED
+ #else
+  #error Platform not defined! 	
+ #endif
+#endif
+
+#if defined(__AVR_ATtiny84__) || defined(__AVR_ATtiny85__) || defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtinyX4__) || defined(__AVR_ATtinyX5__) || defined(__AVR_ATtiny2313__) || defined(__AVR_ATtiny4313__) || defined(__AVR_ATtinyX313__)
+ #define RH_PLATFORM_ATTINY
+#endif
+
+////////////////////////////////////////////////////
+// Platform specific headers:
+#if (RH_PLATFORM == RH_PLATFORM_ARDUINO)
+  #if (ARDUINO >= 100)
+  #include <Arduino.h>
+ #else
+  #include <wiring.h>
+ #endif
+ #ifdef RH_PLATFORM_ATTINY
+  #warning Arduino TinyCore does not support hardware SPI. Use software SPI instead.
+ #else
+  #include <SPI.h>
+  #define RH_HAVE_HARDWARE_SPI
+  #define RH_HAVE_SERIAL
+ #endif
+
+#elif (RH_PLATFORM == RH_PLATFORM_MSP430) // LaunchPad specific
+ #include "legacymsp430.h"
+ #include "Energia.h"
+ #include <SPI.h>
+ #define RH_HAVE_HARDWARE_SPI
+ #define RH_HAVE_SERIAL
+
+#elif (RH_PLATFORM == RH_PLATFORM_UNO32)
+ #include <WProgram.h>
+ #include <string.h>
+ #include <SPI.h>
+ #define RH_HAVE_HARDWARE_SPI
+ #define memcpy_P memcpy
+ #define RH_HAVE_SERIAL
+
+#elif (RH_PLATFORM == RH_PLATFORM_STM32) // Maple, Flymaple etc
+ #include <wirish.h>	
+ #include <stdint.h>
+ #include <string.h>
+ #include <HardwareSPI.h>
+ #define RH_HAVE_HARDWARE_SPI
+ // Defines which timer to use on Maple
+ #define MAPLE_TIMER 1
+ #define PROGMEM
+ #define memcpy_P memcpy
+ #define Serial SerialUSB
+ #define RH_HAVE_SERIAL
+
+#elif (RH_PLATFORM == RH_PLATFORM_STM32STD) // STM32 with STM32F4xx_StdPeriph_Driver 
+ #include <stm32f4xx.h>
+ #include <wirish.h>	
+ #include <stdint.h>
+ #include <string.h>
+ #include <math.h>
+ #include <HardwareSPI.h>
+ #define RH_HAVE_HARDWARE_SPI
+ #define Serial SerialUSB
+ #define RH_HAVE_SERIAL
+
+#elif (RH_PLATFORM == RH_PLATFORM_GENERIC_AVR8) 
+ #include <avr/io.h>
+ #include <avr/interrupt.h>
+ #include <util/delay.h>
+ #include <string.h>
+ #include <stdbool.h>
+ #define RH_HAVE_HARDWARE_SPI
+ #include <SPI.h>
+
+// For Steve Childress port to ARM M4 w/CMSIS with STM's Hardware Abstraction lib. 
+// See ArduinoWorkarounds.h (not supplied)
+#elif (RH_PLATFORM == RH_PLATFORM_STM32F4_HAL) 
+ #include <ArduinoWorkarounds.h>
+ #include <stm32f4xx.h> // Also using ST's CubeMX to generate I/O and CPU setup source code for IAR/EWARM, not GCC ARM.
+ #include <stdint.h>
+ #include <string.h>
+ #include <math.h>
+ #define RH_HAVE_HARDWARE_SPI // using HAL (Hardware Abstraction Libraries from ST along with CMSIS, not arduino libs or pins concept.
+
+#elif (RH_PLATFORM == RH_PLATFORM_RASPI)
+ #define RH_HAVE_HARDWARE_SPI
+ #define RH_HAVE_SERIAL
+ #define PROGMEM
+ #include <RHutil/RasPi.h>
+ #include <string.h>
+ //Define SS for CS0 or pin 24
+ #define SS 8
+
+#elif (RH_PLATFORM == RH_PLATFORM_NRF51)
+ #define RH_HAVE_SERIAL
+ #define PROGMEM
+  #include <Arduino.h>
+
+#elif (RH_PLATFORM == RH_PLATFORM_UNIX) 
+ // Simulate the sketch on Linux and OSX
+ #include <RHutil/simulator.h>
+ #define RH_HAVE_SERIAL
+ 
+#elif (RH_PLATFORM == RH_PLATFORM_MBED) 
+ #include <mbed.h>
+ #define RH_HAVE_HARDWARE_SPI 
+ 
+ extern Timer _millisTimer;
+  
+ #define PROGMEM
+ 
+ #define HIGH	1
+ #define LOW	0
+ 
+ #define millis() 								_millisTimer.read_ms()
+ #define delay(ms)								wait_ms(ms)
+ #define digitalWrite(pin, val)					pin = val
+ #define digitalRead(pin) 						pin
+ #define memcpy_P 								memcpy
+  
+#else
+ #error Platform unknown!
+#endif
+
+
+#if (RH_PLATFORM == RH_PLATFORM_MBED)
+	#define	PINS	PinName
+#else
+	#define	PINS	uint8_t
+#endif
+
+////////////////////////////////////////////////////
+// This is an attempt to make a portable atomic block
+#if (RH_PLATFORM == RH_PLATFORM_ARDUINO)
+#if defined(__arm__)
+  #include <RHutil/atomic.h>
+ #else
+  #include <util/atomic.h>
+ #endif
+ #define ATOMIC_BLOCK_START     ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+ #define ATOMIC_BLOCK_END }
+#elif (RH_PLATFORM == RH_PLATFORM_UNO32)
+ #include <peripheral/int.h>
+ #define ATOMIC_BLOCK_START unsigned int __status = INTDisableInterrupts(); {
+ #define ATOMIC_BLOCK_END } INTRestoreInterrupts(__status);
+#else 
+ // TO BE DONE:
+ #define ATOMIC_BLOCK_START
+ #define ATOMIC_BLOCK_END
+#endif
+
+////////////////////////////////////////////////////
+// Try to be compatible with systems that support yield() and multitasking
+// instead of spin-loops
+// Recent Arduino IDE or Teensy 3 has yield()
+#if (RH_PLATFORM == RH_PLATFORM_ARDUINO && ARDUINO >= 155 && !defined(RH_PLATFORM_ATTINY)) || (TEENSYDUINO && defined(__MK20DX128__))
+ #define YIELD yield();
+#else
+ #define YIELD
+#endif
+
+////////////////////////////////////////////////////
+// digitalPinToInterrupt is not available prior to Arduino 1.5.6 and 1.0.6
+// See http://arduino.cc/en/Reference/attachInterrupt
+#ifndef NOT_AN_INTERRUPT
+ #define NOT_AN_INTERRUPT -1
+#endif
+#ifndef digitalPinToInterrupt
+ #if (RH_PLATFORM == RH_PLATFORM_ARDUINO) && !defined(__arm__)
+
+  #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+   // Arduino Mega, Mega ADK, Mega Pro
+   // 2->0, 3->1, 21->2, 20->3, 19->4, 18->5
+   #define digitalPinToInterrupt(p) ((p) == 2 ? 0 : ((p) == 3 ? 1 : ((p) >= 18 && (p) <= 21 ? 23 - (p) : NOT_AN_INTERRUPT)))
+
+  #elif defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) 
+   // Arduino 1284 and 1284P - See Manicbug and Optiboot
+   // 10->0, 11->1, 2->2
+   #define digitalPinToInterrupt(p) ((p) == 10 ? 0 : ((p) == 11 ? 1 : ((p) == 2 ? 2 : NOT_AN_INTERRUPT)))
+
+  #elif defined(__AVR_ATmega32U4__)
+   // Leonardo, Yun, Micro, Pro Micro, Flora, Esplora
+   // 3->0, 2->1, 0->2, 1->3, 7->4
+   #define digitalPinToInterrupt(p) ((p) == 0 ? 2 : ((p) == 1 ? 3 : ((p) == 2 ? 1 : ((p) == 3 ? 0 : ((p) == 7 ? 4 : NOT_AN_INTERRUPT)))))
+
+  #else
+   // All other arduino except Due:
+   // Serial Arduino, Extreme, NG, BT, Uno, Diecimila, Duemilanove, Nano, Menta, Pro, Mini 04, Fio, LilyPad, Ethernet etc
+   // 2->0, 3->1
+   #define digitalPinToInterrupt(p)  ((p) == 2 ? 0 : ((p) == 3 ? 1 : NOT_AN_INTERRUPT))
+
+  #endif
+ 
+ #elif (RH_PLATFORM == RH_PLATFORM_UNO32)
+  #define digitalPinToInterrupt(p) ((p) == 38 ? 0 : ((p) == 2 ? 1 : ((p) == 7 ? 2 : ((p) == 8 ? 3 : ((p) == 735 ? 4 : NOT_AN_INTERRUPT)))))
+
+ #else
+  // Everything else (including Due and Teensy) interrupt number the same as the interrupt pin number
+  #define digitalPinToInterrupt(p) (p)
+ #endif
+#endif
+
+// Slave select pin, some platforms such as ATTiny do not define it.
+#ifndef SS
+ #define SS 10
+#endif
+
+// These defs cause trouble on some versions of Arduino
+#undef abs
+#undef round
+#undef double
+
+// This is the address that indicates a broadcast
+#define RH_BROADCAST_ADDRESS 0xff
+
+#endif