Seunghee Jeong
,
Revision 0:9d06cdd73bc7, committed 23 months ago
- Comitter:
- jjeong
- Date:
- Sat Dec 03 08:21:37 2022 +0000
- Commit message:
- controller for quadrotor with RF24 driver;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF24.cpp Sat Dec 03 08:21:37 2022 +0000
@@ -0,0 +1,1316 @@
+/*
+ Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+/*
+ * Mbed support added by Akash Vibhute <akash.roboticist@gmail.com>
+ * Porting completed on Nov/05/2015
+ *
+ * Updated 1: Synced with TMRh20's RF24 library on Nov/04/2015 from https://github.com/TMRh20
+ * Updated 2: Synced with TMRh20's RF24 library on Apr/18/2015 from https://github.com/TMRh20
+ *
+ */
+
+#include "nRF24L01.h"
+#include "RF24_config.h"
+#include "RF24.h"
+
+/****************************************************************************/
+
+void RF24::csn(bool mode)
+{
+
+ csn_pin = mode;
+
+
+}
+
+/****************************************************************************/
+
+void RF24::ce(bool level)
+{
+ ce_pin = level;
+
+}
+
+/****************************************************************************/
+
+ inline void RF24::beginTransaction() {
+
+
+ csn(LOW);
+ }
+
+/****************************************************************************/
+
+ inline void RF24::endTransaction() {
+ csn(HIGH);
+
+
+
+ }
+
+/****************************************************************************/
+
+uint8_t RF24::read_register(uint8_t reg, uint8_t* buf, uint8_t len)
+{
+ uint8_t status;
+
+
+
+ beginTransaction();
+ status = spi.write( R_REGISTER | ( REGISTER_MASK & reg ) );
+ while ( len-- ){
+ *buf++ = spi.write(0xff);
+ }
+ endTransaction();
+
+
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::read_register(uint8_t reg)
+{
+ uint8_t result;
+
+
+ beginTransaction();
+ spi.write( R_REGISTER | ( REGISTER_MASK & reg ) );
+ result = spi.write(0xff);
+ endTransaction();
+
+
+
+ return result;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::write_register(uint8_t reg, const uint8_t* buf, uint8_t len)
+{
+ uint8_t status;
+
+
+ beginTransaction();
+ status = spi.write( W_REGISTER | ( REGISTER_MASK & reg ) );
+ while ( len-- )
+ spi.write(*buf++);
+ endTransaction();
+
+
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::write_register(uint8_t reg, uint8_t value)
+{
+ uint8_t status;
+
+ IF_SERIAL_DEBUG(printf_P(PSTR("write_register(%02x,%02x)\r\n"),reg,value));
+
+
+ beginTransaction();
+ status = spi.write( W_REGISTER | ( REGISTER_MASK & reg ) );
+ spi.write(value);
+ endTransaction();
+
+
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::write_payload(const void* buf, uint8_t data_len, const uint8_t writeType)
+{
+ uint8_t status;
+ const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
+
+ data_len = rf24_min(data_len, payload_size);
+ uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
+
+ //printf("[Writing %u bytes %u blanks]",data_len,blank_len);
+ IF_SERIAL_DEBUG( printf("[Writing %u bytes %u blanks]\n",data_len,blank_len); );
+
+
+ beginTransaction();
+ status = spi.write( writeType );
+ while ( data_len-- ) {
+ spi.write(*current++);
+ }
+ while ( blank_len-- ) {
+ spi.write(0);
+ }
+ endTransaction();
+
+
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::read_payload(void* buf, uint8_t data_len)
+{
+ uint8_t status;
+ uint8_t* current = reinterpret_cast<uint8_t*>(buf);
+
+ if(data_len > payload_size) data_len = payload_size;
+ uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
+
+ //printf("[Reading %u bytes %u blanks]",data_len,blank_len);
+
+ IF_SERIAL_DEBUG( printf("[Reading %u bytes %u blanks]\n",data_len,blank_len); );
+
+
+
+ beginTransaction();
+ status = spi.write( R_RX_PAYLOAD );
+ while ( data_len-- ) {
+ *current++ = spi.write(0xFF);
+ }
+ while ( blank_len-- ) {
+ spi.write(0xff);
+ }
+ endTransaction();
+
+
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::flush_rx(void)
+{
+ return spiTrans( FLUSH_RX );
+}
+
+/****************************************************************************/
+
+uint8_t RF24::flush_tx(void)
+{
+ return spiTrans( FLUSH_TX );
+}
+
+/****************************************************************************/
+
+uint8_t RF24::spiTrans(uint8_t cmd){
+
+ uint8_t status;
+
+ beginTransaction();
+ status = spi.write( cmd );
+ endTransaction();
+
+ return status;
+}
+
+/****************************************************************************/
+
+uint8_t RF24::get_status(void)
+{
+ return spiTrans(NOP);
+}
+
+/****************************************************************************/
+#if !defined (MINIMAL)
+void RF24::print_status(uint8_t status)
+{
+ printf_P(PSTR("STATUS\t\t = 0x%02x RX_DR=%x TX_DS=%x MAX_RT=%x RX_P_NO=%x TX_FULL=%x\r\n"),
+ status,
+ (status & _BV(RX_DR))?1:0,
+ (status & _BV(TX_DS))?1:0,
+ (status & _BV(MAX_RT))?1:0,
+ ((status >> RX_P_NO) & 0b111),
+ (status & _BV(TX_FULL))?1:0
+ );
+}
+
+/****************************************************************************/
+
+void RF24::print_observe_tx(uint8_t value)
+{
+ printf_P(PSTR("OBSERVE_TX=%02x: POLS_CNT=%x ARC_CNT=%x\r\n"),
+ value,
+ (value >> PLOS_CNT) & 0b1111,
+ (value >> ARC_CNT) & 0b1111
+ );
+}
+
+/****************************************************************************/
+
+void RF24::print_byte_register(const char* name, uint8_t reg, uint8_t qty)
+{
+ //char extra_tab = strlen_P(name) < 8 ? '\t' : 0;
+ //printf_P(PSTR(PRIPSTR"\t%c ="),name,extra_tab);
+
+
+
+ printf_P(PSTR(PRIPSTR"\t ="),name);
+
+ while (qty--)
+ printf_P(PSTR(" 0x%02x"),read_register(reg++));
+ printf_P(PSTR("\r\n"));
+}
+
+/****************************************************************************/
+
+void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
+{
+
+
+
+
+ printf_P(PSTR(PRIPSTR"\t ="),name);
+
+ while (qty--)
+ {
+ uint8_t buffer[addr_width];
+ read_register(reg++,buffer,sizeof buffer);
+
+ printf_P(PSTR(" 0x"));
+ uint8_t* bufptr = buffer + sizeof buffer;
+ while( --bufptr >= buffer )
+ printf_P(PSTR("%02x"),*bufptr);
+ }
+
+ printf_P(PSTR("\r\n"));
+}
+#endif
+/****************************************************************************/
+RF24::RF24(PinName mosi, PinName miso, PinName sck, PinName _cepin, PinName _csnpin):
+ spi(mosi, miso, sck), ce_pin(_cepin), csn_pin(_csnpin), p_variant(true),
+ payload_size(32), dynamic_payloads_enabled(false), addr_width(5)
+{
+ pipe0_reading_address[0]=0;
+
+ //spi.frequency(10000000/5); // 2Mbit, 1/5th the maximum transfer rate for the spi bus
+ spi.frequency(10000000/5);
+ //spi.format(8,0); // 8-bit, ClockPhase = 0, ClockPolarity = 0
+ spi.format(8,0);
+ wait_ms(10);
+}
+
+
+
+
+
+
+
+
+/****************************************************************************/
+
+void RF24::setChannel(uint8_t channel)
+{
+ const uint8_t max_channel = 125;
+ write_register(RF_CH,rf24_min(channel,max_channel));
+}
+
+uint8_t RF24::getChannel()
+{
+
+ return read_register(RF_CH);
+}
+/****************************************************************************/
+
+void RF24::setPayloadSize(uint8_t size)
+{
+ payload_size = rf24_min(size,32);
+}
+
+/****************************************************************************/
+
+uint8_t RF24::getPayloadSize(void)
+{
+ return payload_size;
+}
+
+/****************************************************************************/
+
+#if !defined (MINIMAL)
+
+static const char rf24_datarate_e_str_0[] PROGMEM = "1MBPS";
+static const char rf24_datarate_e_str_1[] PROGMEM = "2MBPS";
+static const char rf24_datarate_e_str_2[] PROGMEM = "250KBPS";
+static const char * const rf24_datarate_e_str_P[] PROGMEM = {
+ rf24_datarate_e_str_0,
+ rf24_datarate_e_str_1,
+ rf24_datarate_e_str_2,
+};
+static const char rf24_model_e_str_0[] PROGMEM = "nRF24L01";
+static const char rf24_model_e_str_1[] PROGMEM = "nRF24L01+";
+static const char * const rf24_model_e_str_P[] PROGMEM = {
+ rf24_model_e_str_0,
+ rf24_model_e_str_1,
+};
+static const char rf24_crclength_e_str_0[] PROGMEM = "Disabled";
+static const char rf24_crclength_e_str_1[] PROGMEM = "8 bits";
+static const char rf24_crclength_e_str_2[] PROGMEM = "16 bits" ;
+static const char * const rf24_crclength_e_str_P[] PROGMEM = {
+ rf24_crclength_e_str_0,
+ rf24_crclength_e_str_1,
+ rf24_crclength_e_str_2,
+};
+static const char rf24_pa_dbm_e_str_0[] PROGMEM = "PA_MIN";
+static const char rf24_pa_dbm_e_str_1[] PROGMEM = "PA_LOW";
+static const char rf24_pa_dbm_e_str_2[] PROGMEM = "PA_HIGH";
+static const char rf24_pa_dbm_e_str_3[] PROGMEM = "PA_MAX";
+static const char * const rf24_pa_dbm_e_str_P[] PROGMEM = {
+ rf24_pa_dbm_e_str_0,
+ rf24_pa_dbm_e_str_1,
+ rf24_pa_dbm_e_str_2,
+ rf24_pa_dbm_e_str_3,
+};
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+void RF24::printDetails(void)
+{
+
+
+ print_status(get_status());
+
+ print_address_register(PSTR("RX_ADDR_P0-1"),RX_ADDR_P0,2);
+ print_byte_register(PSTR("RX_ADDR_P2-5"),RX_ADDR_P2,4);
+ print_address_register(PSTR("TX_ADDR\t"),TX_ADDR);
+
+ print_byte_register(PSTR("RX_PW_P0-6"),RX_PW_P0,6);
+ print_byte_register(PSTR("EN_AA\t"),EN_AA);
+ print_byte_register(PSTR("EN_RXADDR"),EN_RXADDR);
+ print_byte_register(PSTR("RF_CH\t"),RF_CH);
+ print_byte_register(PSTR("RF_SETUP"),RF_SETUP);
+ print_byte_register(PSTR("CONFIG\t"),NRF_CONFIG);
+ print_byte_register(PSTR("DYNPD/FEATURE"),DYNPD,2);
+
+ printf_P(PSTR("Data Rate\t = " PRIPSTR "\r\n"),pgm_read_word(&rf24_datarate_e_str_P[getDataRate()]));
+ printf_P(PSTR("Model\t\t = " PRIPSTR "\r\n"),pgm_read_word(&rf24_model_e_str_P[isPVariant()]));
+ printf_P(PSTR("CRC Length\t = " PRIPSTR "\r\n"),pgm_read_word(&rf24_crclength_e_str_P[getCRCLength()]));
+ printf_P(PSTR("PA Power\t = " PRIPSTR "\r\n"), pgm_read_word(&rf24_pa_dbm_e_str_P[getPALevel()]));
+
+}
+
+#endif
+/****************************************************************************/
+
+bool RF24::begin(void)
+{
+
+ uint8_t setup=0;
+
+ mainTimer.start();
+
+ ce(LOW);
+ csn(HIGH);
+
+ wait_ms(100);
+
+
+
+
+ // Must allow the radio time to settle else configuration bits will not necessarily stick.
+ // This is actually only required following power up but some settling time also appears to
+ // be required after resets too. For full coverage, we'll always assume the worst.
+ // Enabling 16b CRC is by far the most obvious case if the wrong timing is used - or skipped.
+ // Technically we require 4.5ms + 14us as a worst case. We'll just call it 5ms for good measure.
+ // WARNING: Delay is based on P-variant whereby non-P *may* require different timing.
+ wait_ms( 5 ) ;
+
+ // Reset NRF_CONFIG and enable 16-bit CRC.
+ write_register( NRF_CONFIG, 0b00001100 ) ;
+
+ // Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
+ // WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
+ // sizes must never be used. See documentation for a more complete explanation.
+ setRetries(5,15);
+
+ // Reset value is MAX
+ //setPALevel( RF24_PA_MAX ) ;
+
+ // check for connected module and if this is a p nRF24l01 variant
+ //
+ if( setDataRate( RF24_250KBPS ) )
+ {
+ p_variant = true ;
+ }
+ setup = read_register(RF_SETUP);
+ /*if( setup == 0b00001110 ) // register default for nRF24L01P
+ {
+ p_variant = true ;
+ }*/
+
+ // Then set the data rate to the slowest (and most reliable) speed supported by all
+ // hardware.
+ //setDataRate( RF24_1MBPS ) ;
+ setDataRate( RF24_1MBPS ) ;
+
+ // Initialize CRC and request 2-byte (16bit) CRC
+ setCRCLength( RF24_CRC_16 ) ;
+
+ // Disable dynamic payloads, to match dynamic_payloads_enabled setting - Reset value is 0
+ toggle_features();
+ write_register(FEATURE,0 );
+ write_register(DYNPD,0);
+
+ // Reset current status
+ // Notice reset and flush is the last thing we do
+ write_register(NRF_STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
+
+ // Set up default configuration. Callers can always change it later.
+ // This channel should be universally safe and not bleed over into adjacent
+ // spectrum.
+ setChannel(76);
+
+ // Flush buffers
+ flush_rx();
+ flush_tx();
+
+ powerUp(); //Power up by default when begin() is called
+
+ // Enable PTX, do not write CE high so radio will remain in standby I mode ( 130us max to transition to RX or TX instead of 1500us from powerUp )
+ // PTX should use only 22uA of power
+ write_register(NRF_CONFIG, ( read_register(NRF_CONFIG) ) & ~_BV(PRIM_RX) );
+ printDetails();
+ // if setup is 0 or ff then there was no response from module
+ return ( setup != 0 && setup != 0xff );
+}
+
+/****************************************************************************/
+
+void RF24::startListening(void)
+{
+
+
+
+ write_register(NRF_CONFIG, read_register(NRF_CONFIG) | _BV(PRIM_RX));
+ write_register(NRF_STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
+ ce(HIGH);
+ // Restore the pipe0 adddress, if exists
+ if (pipe0_reading_address[0] > 0){
+ write_register(RX_ADDR_P0, pipe0_reading_address, addr_width);
+ }else{
+ closeReadingPipe(0);
+ }
+
+ // Flush buffers
+ //flush_rx();
+ if(read_register(FEATURE) & _BV(EN_ACK_PAY)){
+ flush_tx();
+ }
+
+ // Go!
+ //delayMicroseconds(100);
+}
+
+/****************************************************************************/
+static const uint8_t child_pipe_enable[] PROGMEM =
+{
+ ERX_P0, ERX_P1, ERX_P2, ERX_P3, ERX_P4, ERX_P5
+};
+
+void RF24::stopListening(void)
+{
+ ce(LOW);
+
+ wait_us(txRxDelay);
+
+ if(read_register(FEATURE) & _BV(EN_ACK_PAY)){
+ wait_us(txRxDelay); //200
+ flush_tx();
+ }
+ //flush_rx();
+ write_register(NRF_CONFIG, ( read_register(NRF_CONFIG) ) & ~_BV(PRIM_RX) );
+
+
+ write_register(EN_RXADDR,read_register(EN_RXADDR) | _BV(pgm_read_byte(&child_pipe_enable[0]))); // Enable RX on pipe0
+
+ //delayMicroseconds(100);
+
+}
+
+/****************************************************************************/
+
+void RF24::powerDown(void)
+{
+ ce(LOW); // Guarantee CE is low on powerDown
+ write_register(NRF_CONFIG,read_register(NRF_CONFIG) & ~_BV(PWR_UP));
+}
+
+/****************************************************************************/
+
+//Power up now. Radio will not power down unless instructed by MCU for config changes etc.
+void RF24::powerUp(void)
+{
+ uint8_t cfg = read_register(NRF_CONFIG);
+
+ // if not powered up then power up and wait for the radio to initialize
+ if (!(cfg & _BV(PWR_UP))){
+ write_register(NRF_CONFIG, cfg | _BV(PWR_UP));
+
+ // For nRF24L01+ to go from power down mode to TX or RX mode it must first pass through stand-by mode.
+ // There must be a delay of Tpd2stby (see Table 16.) after the nRF24L01+ leaves power down mode before
+ // the CEis set high. - Tpd2stby can be up to 5ms per the 1.0 datasheet
+ wait_ms(5);
+ }
+}
+
+/******************************************************************/
+#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+void RF24::errNotify(){
+ #if defined (SERIAL_DEBUG) || defined (RF24_LINUX)
+ printf_P(PSTR("RF24 HARDWARE FAIL: Radio not responding, verify pin connections, wiring, etc.\r\n"));
+ #endif
+ #if defined (FAILURE_HANDLING)
+ failureDetected = 1;
+ #else
+ wait_ms(5000);
+ #endif
+}
+#endif
+/******************************************************************/
+
+//Similar to the previous write, clears the interrupt flags
+bool RF24::write( const void* buf, uint8_t len, const bool multicast )
+{
+ //Start Writing
+ startFastWrite(buf,len,multicast);
+
+ //Wait until complete or failed
+ #if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+ uint32_t timer = mainTimer.read_ms();
+ #endif
+
+ while( ! ( get_status() & ( _BV(TX_DS) | _BV(MAX_RT) ))) {
+ #if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+ if(mainTimer.read_ms() - timer > 95){
+ errNotify();
+ #if defined (FAILURE_HANDLING)
+ return 0;
+ #else
+ wait_ms(100);
+ #endif
+ }
+ #endif
+ }
+
+ ce(LOW);
+
+ uint8_t status = write_register(NRF_STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
+
+ //Max retries exceeded
+ if( status & _BV(MAX_RT)){
+ flush_tx(); //Only going to be 1 packet int the FIFO at a time using this method, so just flush
+ return 0;
+ }
+ //TX OK 1 or 0
+ return 1;
+}
+
+bool RF24::write( const void* buf, uint8_t len ){
+ return write(buf,len,0);
+}
+/****************************************************************************/
+
+//For general use, the interrupt flags are not important to clear
+bool RF24::writeBlocking( const void* buf, uint8_t len, uint32_t timeout )
+{
+ //Block until the FIFO is NOT full.
+ //Keep track of the MAX retries and set auto-retry if seeing failures
+ //This way the FIFO will fill up and allow blocking until packets go through
+ //The radio will auto-clear everything in the FIFO as long as CE remains high
+
+ uint32_t timer = mainTimer.read_ms(); //Get the time that the payload transmission started
+
+ while( ( get_status() & ( _BV(TX_FULL) ))) { //Blocking only if FIFO is full. This will loop and block until TX is successful or timeout
+
+ if( get_status() & _BV(MAX_RT)){ //If MAX Retries have been reached
+ reUseTX(); //Set re-transmit and clear the MAX_RT interrupt flag
+ if(mainTimer.read_ms() - timer > timeout){ return 0; } //If this payload has exceeded the user-defined timeout, exit and return 0
+ }
+ #if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+ if(mainTimer.read_ms() - timer > (timeout+95) ){
+ errNotify();
+ #if defined (FAILURE_HANDLING)
+ return 0;
+ #endif
+ }
+ #endif
+
+ }
+
+ //Start Writing
+ startFastWrite(buf,len,0); //Write the payload if a buffer is clear
+
+ return 1; //Return 1 to indicate successful transmission
+}
+
+/****************************************************************************/
+
+void RF24::reUseTX(){
+ write_register(NRF_STATUS,_BV(MAX_RT) ); //Clear max retry flag
+ spiTrans( REUSE_TX_PL );
+ ce(LOW); //Re-Transfer packet
+ ce(HIGH);
+}
+
+/****************************************************************************/
+
+bool RF24::writeFast( const void* buf, uint8_t len, const bool multicast )
+{
+ //Block until the FIFO is NOT full.
+ //Keep track of the MAX retries and set auto-retry if seeing failures
+ //Return 0 so the user can control the retrys and set a timer or failure counter if required
+ //The radio will auto-clear everything in the FIFO as long as CE remains high
+
+ #if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+ uint32_t timer = mainTimer.read_ms();
+ #endif
+
+ while( ( get_status() & ( _BV(TX_FULL) ))) { //Blocking only if FIFO is full. This will loop and block until TX is successful or fail
+
+ if( get_status() & _BV(MAX_RT)){
+ //reUseTX(); //Set re-transmit
+ write_register(NRF_STATUS,_BV(MAX_RT) ); //Clear max retry flag
+ return 0; //Return 0. The previous payload has been retransmitted
+ //From the user perspective, if you get a 0, just keep trying to send the same payload
+ }
+ #if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+ if(mainTimer.read_ms() - timer > 95 ){
+ errNotify();
+ #if defined (FAILURE_HANDLING)
+ return 0;
+ #endif
+ }
+ #endif
+ }
+ //Start Writing
+ startFastWrite(buf,len,multicast);
+
+ return 1;
+}
+
+bool RF24::writeFast( const void* buf, uint8_t len ){
+ return writeFast(buf,len,0);
+}
+
+/****************************************************************************/
+
+//Per the documentation, we want to set PTX Mode when not listening. Then all we do is write data and set CE high
+//In this mode, if we can keep the FIFO buffers loaded, packets will transmit immediately (no 130us delay)
+//Otherwise we enter Standby-II mode, which is still faster than standby mode
+//Also, we remove the need to keep writing the config register over and over and delaying for 150 us each time if sending a stream of data
+
+void RF24::startFastWrite( const void* buf, uint8_t len, const bool multicast, bool startTx){ //TMRh20
+
+ //write_payload( buf,len);
+ write_payload( buf, len,multicast ? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD ) ;
+ if(startTx){
+ ce(HIGH);
+ }
+
+}
+
+/****************************************************************************/
+
+//Added the original startWrite back in so users can still use interrupts, ack payloads, etc
+//Allows the library to pass all tests
+void RF24::startWrite( const void* buf, uint8_t len, const bool multicast ){
+
+ // Send the payload
+
+ //write_payload( buf, len );
+ write_payload( buf, len,multicast? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD ) ;
+ ce(HIGH);
+
+ wait_us(10);
+
+ ce(LOW);
+
+
+}
+
+/****************************************************************************/
+
+bool RF24::rxFifoFull(){
+ return read_register(FIFO_STATUS) & _BV(RX_FULL);
+}
+/****************************************************************************/
+
+bool RF24::txStandBy(){
+
+ #if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+ uint32_t timeout = mainTimer.read_ms();
+ #endif
+ while( ! (read_register(FIFO_STATUS) & _BV(TX_EMPTY)) ){
+ if( get_status() & _BV(MAX_RT)){
+ write_register(NRF_STATUS,_BV(MAX_RT) );
+ ce(LOW);
+ flush_tx(); //Non blocking, flush the data
+ return 0;
+ }
+ #if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+ if( mainTimer.read_ms() - timeout > 95){
+ errNotify();
+ #if defined (FAILURE_HANDLING)
+ return 0;
+ #endif
+ }
+ #endif
+ }
+
+ ce(LOW); //Set STANDBY-I mode
+ return 1;
+}
+
+/****************************************************************************/
+
+bool RF24::txStandBy(uint32_t timeout, bool startTx){
+
+ if(startTx){
+ stopListening();
+ ce(HIGH);
+ }
+ uint32_t start = mainTimer.read_ms();
+
+ while( ! (read_register(FIFO_STATUS) & _BV(TX_EMPTY)) ){
+ if( get_status() & _BV(MAX_RT)){
+ write_register(NRF_STATUS,_BV(MAX_RT) );
+ ce(LOW); //Set re-transmit
+ ce(HIGH);
+ if(mainTimer.read_ms() - start >= timeout){
+ ce(LOW); flush_tx(); return 0;
+ }
+ }
+ #if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+ if( mainTimer.read_ms() - start > (timeout+95)){
+ errNotify();
+ #if defined (FAILURE_HANDLING)
+ return 0;
+ #endif
+ }
+ #endif
+ }
+
+
+ ce(LOW); //Set STANDBY-I mode
+ return 1;
+
+}
+
+/****************************************************************************/
+
+void RF24::maskIRQ(bool tx, bool fail, bool rx){
+
+ uint8_t config = read_register(NRF_CONFIG);
+ /* clear the interrupt flags */
+ config &= ~(1 << MASK_MAX_RT | 1 << MASK_TX_DS | 1 << MASK_RX_DR);
+ /* set the specified interrupt flags */
+ config |= fail << MASK_MAX_RT | tx << MASK_TX_DS | rx << MASK_RX_DR;
+ write_register(NRF_CONFIG, config);
+}
+
+/****************************************************************************/
+
+uint8_t RF24::getDynamicPayloadSize(void)
+{
+ uint8_t result = 0;
+
+
+ beginTransaction();
+ spi.write( R_RX_PL_WID );
+ result = spi.write(0xff);
+ endTransaction();
+
+
+ if(result > 32) { flush_rx(); wait_ms(2); return 0; }
+ return result;
+}
+
+/****************************************************************************/
+
+bool RF24::available(void)
+{
+ return available(NULL);
+}
+
+/****************************************************************************/
+
+bool RF24::available(uint8_t* pipe_num)
+{
+ if (!( read_register(FIFO_STATUS) & _BV(RX_EMPTY) )){
+
+ // If the caller wants the pipe number, include that
+ if ( pipe_num ){
+ uint8_t status = get_status();
+ *pipe_num = ( status >> RX_P_NO ) & 0b111;
+ }
+ return 1;
+ }
+
+
+ return 0;
+
+
+}
+
+/****************************************************************************/
+
+void RF24::read( void* buf, uint8_t len ){
+
+ // Fetch the payload
+ read_payload( buf, len );
+
+ //Clear the two possible interrupt flags with one command
+ write_register(NRF_STATUS,_BV(RX_DR) | _BV(MAX_RT) | _BV(TX_DS) );
+
+}
+
+/****************************************************************************/
+
+void RF24::whatHappened(bool& tx_ok,bool& tx_fail,bool& rx_ready)
+{
+ // Read the status & reset the status in one easy call
+ // Or is that such a good idea?
+ uint8_t status = write_register(NRF_STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
+
+ // Report to the user what happened
+ tx_ok = status & _BV(TX_DS);
+ tx_fail = status & _BV(MAX_RT);
+ rx_ready = status & _BV(RX_DR);
+}
+
+/****************************************************************************/
+
+void RF24::openWritingPipe(uint64_t value)
+{
+ // Note that AVR 8-bit uC's store this LSB first, and the NRF24L01(+)
+ // expects it LSB first too, so we're good.
+
+ write_register(RX_ADDR_P0, reinterpret_cast<uint8_t*>(&value), addr_width);
+ write_register(TX_ADDR, reinterpret_cast<uint8_t*>(&value), addr_width);
+
+
+ //const uint8_t max_payload_size = 32;
+ //write_register(RX_PW_P0,rf24_min(payload_size,max_payload_size));
+ write_register(RX_PW_P0,payload_size);
+}
+
+/****************************************************************************/
+void RF24::openWritingPipe(const uint8_t *address)
+{
+ // Note that AVR 8-bit uC's store this LSB first, and the NRF24L01(+)
+ // expects it LSB first too, so we're good.
+
+ write_register(RX_ADDR_P0,address, addr_width);
+ write_register(TX_ADDR, address, addr_width);
+
+ //const uint8_t max_payload_size = 32;
+ //write_register(RX_PW_P0,rf24_min(payload_size,max_payload_size));
+ write_register(RX_PW_P0,payload_size);
+}
+
+/****************************************************************************/
+static const uint8_t child_pipe[] PROGMEM =
+{
+ RX_ADDR_P0, RX_ADDR_P1, RX_ADDR_P2, RX_ADDR_P3, RX_ADDR_P4, RX_ADDR_P5
+};
+static const uint8_t child_payload_size[] PROGMEM =
+{
+ RX_PW_P0, RX_PW_P1, RX_PW_P2, RX_PW_P3, RX_PW_P4, RX_PW_P5
+};
+
+
+void RF24::openReadingPipe(uint8_t child, uint64_t address)
+{
+ // If this is pipe 0, cache the address. This is needed because
+ // openWritingPipe() will overwrite the pipe 0 address, so
+ // startListening() will have to restore it.
+ if (child == 0){
+ memcpy(pipe0_reading_address,&address,addr_width);
+ }
+
+ if (child <= 6)
+ {
+ // For pipes 2-5, only write the LSB
+ if ( child < 2 )
+ write_register(pgm_read_byte(&child_pipe[child]), reinterpret_cast<const uint8_t*>(&address), addr_width);
+ else
+ write_register(pgm_read_byte(&child_pipe[child]), reinterpret_cast<const uint8_t*>(&address), 1);
+
+ write_register(pgm_read_byte(&child_payload_size[child]),payload_size);
+
+ // Note it would be more efficient to set all of the bits for all open
+ // pipes at once. However, I thought it would make the calling code
+ // more simple to do it this way.
+ write_register(EN_RXADDR,read_register(EN_RXADDR) | _BV(pgm_read_byte(&child_pipe_enable[child])));
+ }
+}
+
+/****************************************************************************/
+void RF24::setAddressWidth(uint8_t a_width){
+
+ if(a_width -= 2){
+ write_register(SETUP_AW,a_width%4);
+ addr_width = (a_width%4) + 2;
+ }
+
+}
+
+/****************************************************************************/
+
+void RF24::openReadingPipe(uint8_t child, const uint8_t *address)
+{
+ // If this is pipe 0, cache the address. This is needed because
+ // openWritingPipe() will overwrite the pipe 0 address, so
+ // startListening() will have to restore it.
+ if (child == 0){
+ memcpy(pipe0_reading_address,address,addr_width);
+ }
+ if (child <= 6)
+ {
+ // For pipes 2-5, only write the LSB
+ if ( child < 2 ){
+ write_register(pgm_read_byte(&child_pipe[child]), address, addr_width);
+ }else{
+ write_register(pgm_read_byte(&child_pipe[child]), address, 1);
+ }
+ write_register(pgm_read_byte(&child_payload_size[child]),payload_size);
+
+ // Note it would be more efficient to set all of the bits for all open
+ // pipes at once. However, I thought it would make the calling code
+ // more simple to do it this way.
+ write_register(EN_RXADDR,read_register(EN_RXADDR) | _BV(pgm_read_byte(&child_pipe_enable[child])));
+
+ }
+}
+
+/****************************************************************************/
+
+void RF24::closeReadingPipe( uint8_t pipe )
+{
+ write_register(EN_RXADDR,read_register(EN_RXADDR) & ~_BV(pgm_read_byte(&child_pipe_enable[pipe])));
+}
+
+/****************************************************************************/
+
+void RF24::toggle_features(void)
+{
+ beginTransaction();
+ spi.write( ACTIVATE );
+ spi.write( 0x73 );
+ endTransaction();
+}
+
+/****************************************************************************/
+
+void RF24::enableDynamicPayloads(void)
+{
+ // Enable dynamic payload throughout the system
+
+ //toggle_features();
+ write_register(FEATURE,read_register(FEATURE) | _BV(EN_DPL) );
+
+
+ IF_SERIAL_DEBUG(printf("FEATURE=%i\r\n",read_register(FEATURE)));
+
+ // Enable dynamic payload on all pipes
+ //
+ // Not sure the use case of only having dynamic payload on certain
+ // pipes, so the library does not support it.
+ write_register(DYNPD,read_register(DYNPD) | _BV(DPL_P5) | _BV(DPL_P4) | _BV(DPL_P3) | _BV(DPL_P2) | _BV(DPL_P1) | _BV(DPL_P0));
+
+ dynamic_payloads_enabled = true;
+}
+
+/****************************************************************************/
+
+void RF24::enableAckPayload(void)
+{
+ //
+ // enable ack payload and dynamic payload features
+ //
+
+ //toggle_features();
+ write_register(FEATURE,read_register(FEATURE) | _BV(EN_ACK_PAY) | _BV(EN_DPL) );
+
+ IF_SERIAL_DEBUG(printf("FEATURE=%i\r\n",read_register(FEATURE)));
+
+ //
+ // Enable dynamic payload on pipes 0 & 1
+ //
+
+ write_register(DYNPD,read_register(DYNPD) | _BV(DPL_P1) | _BV(DPL_P0));
+ dynamic_payloads_enabled = true;
+}
+
+/****************************************************************************/
+
+void RF24::enableDynamicAck(void){
+ //
+ // enable dynamic ack features
+ //
+ //toggle_features();
+ write_register(FEATURE,read_register(FEATURE) | _BV(EN_DYN_ACK) );
+
+ IF_SERIAL_DEBUG(printf("FEATURE=%i\r\n",read_register(FEATURE)));
+
+
+}
+
+/****************************************************************************/
+
+void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
+{
+ const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
+
+ uint8_t data_len = rf24_min(len,32);
+
+
+
+ beginTransaction();
+ spi.write(W_ACK_PAYLOAD | ( pipe & 0b111 ) );
+
+ while ( data_len-- )
+ spi.write(*current++);
+ endTransaction();
+
+
+
+}
+
+/****************************************************************************/
+
+bool RF24::isAckPayloadAvailable(void)
+{
+ return ! (read_register(FIFO_STATUS) & _BV(RX_EMPTY));
+}
+
+/****************************************************************************/
+
+bool RF24::isPVariant(void)
+{
+ return p_variant ;
+}
+
+/****************************************************************************/
+
+void RF24::setAutoAck(bool enable)
+{
+ if ( enable )
+ write_register(EN_AA, 0b111111);
+ else
+ write_register(EN_AA, 0);
+}
+
+/****************************************************************************/
+
+void RF24::setAutoAck( uint8_t pipe, bool enable )
+{
+ if ( pipe <= 6 )
+ {
+ uint8_t en_aa = read_register( EN_AA ) ;
+ if( enable )
+ {
+ en_aa |= _BV(pipe) ;
+ }
+ else
+ {
+ en_aa &= ~_BV(pipe) ;
+ }
+ write_register( EN_AA, en_aa ) ;
+ }
+}
+
+/****************************************************************************/
+
+bool RF24::testCarrier(void)
+{
+ return ( read_register(CD) & 1 );
+}
+
+/****************************************************************************/
+
+bool RF24::testRPD(void)
+{
+ return ( read_register(RPD) & 1 ) ;
+}
+
+/****************************************************************************/
+
+void RF24::setPALevel(uint8_t level)
+{
+
+ uint8_t setup = read_register(RF_SETUP) & 0b11111000;
+
+ if(level > 3){ // If invalid level, go to max PA
+ level = (RF24_PA_MAX << 1) + 1; // +1 to support the SI24R1 chip extra bit
+ }else{
+ level = (level << 1) + 1; // Else set level as requested
+ }
+
+
+ write_register( RF_SETUP, setup |= level ) ; // Write it to the chip
+}
+
+/****************************************************************************/
+
+uint8_t RF24::getPALevel(void)
+{
+
+ return (read_register(RF_SETUP) & (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH))) >> 1 ;
+}
+
+/****************************************************************************/
+
+bool RF24::setDataRate(rf24_datarate_e speed)
+{
+ bool result = false;
+ uint8_t setup = read_register(RF_SETUP) ;
+
+ // HIGH and LOW '00' is 1Mbs - our default
+ setup &= ~(_BV(RF_DR_LOW) | _BV(RF_DR_HIGH)) ;
+
+
+
+
+ txRxDelay=85;
+
+ if( speed == RF24_250KBPS )
+ {
+ // Must set the RF_DR_LOW to 1; RF_DR_HIGH (used to be RF_DR) is already 0
+ // Making it '10'.
+ setup |= _BV( RF_DR_LOW ) ;
+
+
+
+ txRxDelay=155;
+
+ }
+ else
+ {
+ // Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
+ // Making it '01'
+ if ( speed == RF24_2MBPS )
+ {
+ setup |= _BV(RF_DR_HIGH);
+
+
+ //txRxDelay=65;
+ txRxDelay=15; //mbed works fine with this latency
+
+ }
+ }
+ write_register(RF_SETUP,setup);
+
+ // Verify our result
+ if ( read_register(RF_SETUP) == setup )
+ {
+ result = true;
+ }
+ return result;
+}
+
+/****************************************************************************/
+
+rf24_datarate_e RF24::getDataRate( void )
+{
+ rf24_datarate_e result ;
+ uint8_t dr = read_register(RF_SETUP) & (_BV(RF_DR_LOW) | _BV(RF_DR_HIGH));
+
+ // switch uses RAM (evil!)
+ // Order matters in our case below
+ if ( dr == _BV(RF_DR_LOW) )
+ {
+ // '10' = 250KBPS
+ result = RF24_250KBPS ;
+ }
+ else if ( dr == _BV(RF_DR_HIGH) )
+ {
+ // '01' = 2MBPS
+ result = RF24_2MBPS ;
+ }
+ else
+ {
+ // '00' = 1MBPS
+ result = RF24_1MBPS ;
+ }
+ return result ;
+}
+
+/****************************************************************************/
+
+void RF24::setCRCLength(rf24_crclength_e length)
+{
+ uint8_t config = read_register(NRF_CONFIG) & ~( _BV(CRCO) | _BV(EN_CRC)) ;
+
+ // switch uses RAM (evil!)
+ if ( length == RF24_CRC_DISABLED )
+ {
+ // Do nothing, we turned it off above.
+ }
+ else if ( length == RF24_CRC_8 )
+ {
+ config |= _BV(EN_CRC);
+ }
+ else
+ {
+ config |= _BV(EN_CRC);
+ config |= _BV( CRCO );
+ }
+ write_register( NRF_CONFIG, config ) ;
+}
+
+/****************************************************************************/
+
+rf24_crclength_e RF24::getCRCLength(void)
+{
+ rf24_crclength_e result = RF24_CRC_DISABLED;
+
+ uint8_t config = read_register(NRF_CONFIG) & ( _BV(CRCO) | _BV(EN_CRC)) ;
+ uint8_t AA = read_register(EN_AA);
+
+ if ( config & _BV(EN_CRC ) || AA)
+ {
+ if ( config & _BV(CRCO) )
+ result = RF24_CRC_16;
+ else
+ result = RF24_CRC_8;
+ }
+
+ return result;
+}
+
+/****************************************************************************/
+
+void RF24::disableCRC( void )
+{
+ uint8_t disable = read_register(NRF_CONFIG) & ~_BV(EN_CRC) ;
+ write_register( NRF_CONFIG, disable ) ;
+}
+
+/****************************************************************************/
+void RF24::setRetries(uint8_t delay, uint8_t count)
+{
+ write_register(SETUP_RETR,(delay&0xf)<<ARD | (count&0xf)<<ARC);
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF24.h Sat Dec 03 08:21:37 2022 +0000
@@ -0,0 +1,1864 @@
+/*
+ Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+/**
+ * @file RF24.h
+ *
+ * Class declaration for RF24 and helper enums
+ */
+
+/*
+ * Mbed support added by Akash Vibhute <akash.roboticist@gmail.com>
+ * Porting completed on Nov/05/2015
+ *
+ * Updated 1: Synced with TMRh20's RF24 library on Nov/04/2015 from https://github.com/TMRh20
+ * Updated 2: Synced with TMRh20's RF24 library on Apr/18/2015 from https://github.com/TMRh20
+ *
+ */
+
+#ifndef __RF24_H__
+#define __RF24_H__
+
+#include "RF24_config.h"
+#include <mbed.h>
+
+
+
+/**
+ * Power Amplifier level.
+ *
+ * For use with setPALevel()
+ */
+typedef enum { RF24_PA_MIN = 0,RF24_PA_LOW, RF24_PA_HIGH, RF24_PA_MAX, RF24_PA_ERROR } rf24_pa_dbm_e ;
+
+/**
+ * Data rate. How fast data moves through the air.
+ *
+ * For use with setDataRate()
+ */
+typedef enum { RF24_1MBPS = 0, RF24_2MBPS, RF24_250KBPS } rf24_datarate_e;
+
+/**
+ * CRC Length. How big (if any) of a CRC is included.
+ *
+ * For use with setCRCLength()
+ */
+typedef enum { RF24_CRC_DISABLED = 0, RF24_CRC_8, RF24_CRC_16 } rf24_crclength_e;
+
+/**
+ * Driver for nRF24L01(+) 2.4GHz Wireless Transceiver
+ */
+
+class RF24
+{
+private:
+ DigitalOut ce_pin; /**< "Chip Enable" pin, activates the RX or TX role */
+ DigitalOut csn_pin; /**< SPI Chip select */
+ uint16_t spi_speed; /**< SPI Bus Speed */
+
+ SPI spi;
+ Timer mainTimer;
+
+ bool p_variant; /* False for RF24L01 and true for RF24L01P */
+ uint8_t payload_size; /**< Fixed size of payloads */
+ bool dynamic_payloads_enabled; /**< Whether dynamic payloads are enabled. */
+ uint8_t pipe0_reading_address[5]; /**< Last address set on pipe 0 for reading. */
+ uint8_t addr_width; /**< The address width to use - 3,4 or 5 bytes. */
+ uint32_t txRxDelay; /**< Var for adjusting delays depending on datarate */
+
+
+protected:
+ /**
+ * SPI transactions
+ *
+ * Common code for SPI transactions including CSN toggle
+ *
+ */
+ inline void beginTransaction();
+
+ inline void endTransaction();
+
+public:
+
+ /**
+ * @name Primary public interface
+ *
+ * These are the main methods you need to operate the chip
+ */
+ /**@{*/
+
+ /**
+ * Arduino Constructor
+ *
+ * Creates a new instance of this driver. Before using, you create an instance
+ * and send in the unique pins that this chip is connected to.
+ *
+ * @param _cepin The pin attached to Chip Enable on the RF module
+ * @param _cspin The pin attached to Chip Select
+ */
+ RF24(PinName mosi, PinName miso, PinName sck, PinName _cepin, PinName _csnpin);
+
+
+ /**
+ * Begin operation of the chip
+ *
+ * Call this in setup(), before calling any other methods.
+ * @code radio.begin() @endcode
+ */
+ bool begin(void);
+
+ /**
+ * Start listening on the pipes opened for reading.
+ *
+ * 1. Be sure to call openReadingPipe() first.
+ * 2. Do not call write() while in this mode, without first calling stopListening().
+ * 3. Call available() to check for incoming traffic, and read() to get it.
+ *
+ * @code
+ * Open reading pipe 1 using address CCCECCCECC
+ *
+ * byte address[] = { 0xCC,0xCE,0xCC,0xCE,0xCC };
+ * radio.openReadingPipe(1,address);
+ * radio.startListening();
+ * @endcode
+ */
+ void startListening(void);
+
+ /**
+ * Stop listening for incoming messages, and switch to transmit mode.
+ *
+ * Do this before calling write().
+ * @code
+ * radio.stopListening();
+ * radio.write(&data,sizeof(data));
+ * @endcode
+ */
+ void stopListening(void);
+
+ /**
+ * Check whether there are bytes available to be read
+ * @code
+ * if(radio.available()){
+ * radio.read(&data,sizeof(data));
+ * }
+ * @endcode
+ * @return True if there is a payload available, false if none is
+ */
+ bool available(void);
+
+ /**
+ * Read the available payload
+ *
+ * The size of data read is the fixed payload size, see getPayloadSize()
+ *
+ * @note I specifically chose 'void*' as a data type to make it easier
+ * for beginners to use. No casting needed.
+ *
+ * @note No longer boolean. Use available to determine if packets are
+ * available. Interrupt flags are now cleared during reads instead of
+ * when calling available().
+ *
+ * @param buf Pointer to a buffer where the data should be written
+ * @param len Maximum number of bytes to read into the buffer
+ *
+ * @code
+ * if(radio.available()){
+ * radio.read(&data,sizeof(data));
+ * }
+ * @endcode
+ * @return No return value. Use available().
+ */
+ void read( void* buf, uint8_t len );
+
+ /**
+ * Be sure to call openWritingPipe() first to set the destination
+ * of where to write to.
+ *
+ * This blocks until the message is successfully acknowledged by
+ * the receiver or the timeout/retransmit maxima are reached. In
+ * the current configuration, the max delay here is 60-70ms.
+ *
+ * The maximum size of data written is the fixed payload size, see
+ * getPayloadSize(). However, you can write less, and the remainder
+ * will just be filled with zeroes.
+ *
+ * TX/RX/RT interrupt flags will be cleared every time write is called
+ *
+ * @param buf Pointer to the data to be sent
+ * @param len Number of bytes to be sent
+ *
+ * @code
+ * radio.stopListening();
+ * radio.write(&data,sizeof(data));
+ * @endcode
+ * @return True if the payload was delivered successfully false if not
+ */
+ bool write( const void* buf, uint8_t len );
+
+ /**
+ * New: Open a pipe for writing via byte array. Old addressing format retained
+ * for compatibility.
+ *
+ * Only one writing pipe can be open at once, but you can change the address
+ * you'll write to. Call stopListening() first.
+ *
+ * Addresses are assigned via a byte array, default is 5 byte address length
+s *
+ * @code
+ * uint8_t addresses[][6] = {"1Node","2Node"};
+ * radio.openWritingPipe(addresses[0]);
+ * @endcode
+ * @code
+ * uint8_t address[] = { 0xCC,0xCE,0xCC,0xCE,0xCC };
+ * radio.openWritingPipe(address);
+ * address[0] = 0x33;
+ * radio.openReadingPipe(1,address);
+ * @endcode
+ * @see setAddressWidth
+ *
+ * @param address The address of the pipe to open. Coordinate these pipe
+ * addresses amongst nodes on the network.
+ */
+
+ void openWritingPipe(const uint8_t *address);
+
+ /**
+ * Open a pipe for reading
+ *
+ * Up to 6 pipes can be open for reading at once. Open all the required
+ * reading pipes, and then call startListening().
+ *
+ * @see openWritingPipe
+ * @see setAddressWidth
+ *
+ * @note Pipes 0 and 1 will store a full 5-byte address. Pipes 2-5 will technically
+ * only store a single byte, borrowing up to 4 additional bytes from pipe #1 per the
+ * assigned address width.
+ * @warning Pipes 1-5 should share the same address, except the first byte.
+ * Only the first byte in the array should be unique, e.g.
+ * @code
+ * uint8_t addresses[][6] = {"1Node","2Node"};
+ * openReadingPipe(1,addresses[0]);
+ * openReadingPipe(2,addresses[1]);
+ * @endcode
+ *
+ * @warning Pipe 0 is also used by the writing pipe. So if you open
+ * pipe 0 for reading, and then startListening(), it will overwrite the
+ * writing pipe. Ergo, do an openWritingPipe() again before write().
+ *
+ * @param number Which pipe# to open, 0-5.
+ * @param address The 24, 32 or 40 bit address of the pipe to open.
+ */
+
+ void openReadingPipe(uint8_t number, const uint8_t *address);
+
+ /**@}*/
+ /**
+ * @name Advanced Operation
+ *
+ * Methods you can use to drive the chip in more advanced ways
+ */
+ /**@{*/
+
+ /**
+ * Print a giant block of debugging information to stdout
+ *
+ * @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
+ * The printf.h file is included with the library for Arduino.
+ * @code
+ * #include <printf.h>
+ * setup(){
+ * Serial.begin(115200);
+ * printf_begin();
+ * ...
+ * }
+ * @endcode
+ */
+ void printDetails(void);
+
+ /**
+ * Test whether there are bytes available to be read in the
+ * FIFO buffers.
+ *
+ * @param[out] pipe_num Which pipe has the payload available
+ *
+ * @code
+ * uint8_t pipeNum;
+ * if(radio.available(&pipeNum)){
+ * radio.read(&data,sizeof(data));
+ * Serial.print("Got data on pipe");
+ * Serial.println(pipeNum);
+ * }
+ * @endcode
+ * @return True if there is a payload available, false if none is
+ */
+ bool available(uint8_t* pipe_num);
+
+ /**
+ * Check if the radio needs to be read. Can be used to prevent data loss
+ * @return True if all three 32-byte radio buffers are full
+ */
+ bool rxFifoFull();
+
+ /**
+ * Enter low-power mode
+ *
+ * To return to normal power mode, call powerUp().
+ *
+ * @note After calling startListening(), a basic radio will consume about 13.5mA
+ * at max PA level.
+ * During active transmission, the radio will consume about 11.5mA, but this will
+ * be reduced to 26uA (.026mA) between sending.
+ * In full powerDown mode, the radio will consume approximately 900nA (.0009mA)
+ *
+ * @code
+ * radio.powerDown();
+ * avr_enter_sleep_mode(); // Custom function to sleep the device
+ * radio.powerUp();
+ * @endcode
+ */
+ void powerDown(void);
+
+ /**
+ * Leave low-power mode - required for normal radio operation after calling powerDown()
+ *
+ * To return to low power mode, call powerDown().
+ * @note This will take up to 5ms for maximum compatibility
+ */
+ void powerUp(void) ;
+
+ /**
+ * Write for single NOACK writes. Optionally disables acknowledgements/autoretries for a single write.
+ *
+ * @note enableDynamicAck() must be called to enable this feature
+ *
+ * Can be used with enableAckPayload() to request a response
+ * @see enableDynamicAck()
+ * @see setAutoAck()
+ * @see write()
+ *
+ * @param buf Pointer to the data to be sent
+ * @param len Number of bytes to be sent
+ * @param multicast Request ACK (0), NOACK (1)
+ */
+ bool write( const void* buf, uint8_t len, const bool multicast );
+
+ /**
+ * This will not block until the 3 FIFO buffers are filled with data.
+ * Once the FIFOs are full, writeFast will simply wait for success or
+ * timeout, and return 1 or 0 respectively. From a user perspective, just
+ * keep trying to send the same data. The library will keep auto retrying
+ * the current payload using the built in functionality.
+ * @warning It is important to never keep the nRF24L01 in TX mode and FIFO full for more than 4ms at a time. If the auto
+ * retransmit is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO
+ * to clear by issuing txStandBy() or ensure appropriate time between transmissions.
+ *
+ * @code
+ * Example (Partial blocking):
+ *
+ * radio.writeFast(&buf,32); // Writes 1 payload to the buffers
+ * txStandBy(); // Returns 0 if failed. 1 if success. Blocks only until MAX_RT timeout or success. Data flushed on fail.
+ *
+ * radio.writeFast(&buf,32); // Writes 1 payload to the buffers
+ * txStandBy(1000); // Using extended timeouts, returns 1 if success. Retries failed payloads for 1 seconds before returning 0.
+ * @endcode
+ *
+ * @see txStandBy()
+ * @see write()
+ * @see writeBlocking()
+ *
+ * @param buf Pointer to the data to be sent
+ * @param len Number of bytes to be sent
+ * @return True if the payload was delivered successfully false if not
+ */
+ bool writeFast( const void* buf, uint8_t len );
+
+ /**
+ * WriteFast for single NOACK writes. Disables acknowledgements/autoretries for a single write.
+ *
+ * @note enableDynamicAck() must be called to enable this feature
+ * @see enableDynamicAck()
+ * @see setAutoAck()
+ *
+ * @param buf Pointer to the data to be sent
+ * @param len Number of bytes to be sent
+ * @param multicast Request ACK (0) or NOACK (1)
+ */
+ bool writeFast( const void* buf, uint8_t len, const bool multicast );
+
+ /**
+ * This function extends the auto-retry mechanism to any specified duration.
+ * It will not block until the 3 FIFO buffers are filled with data.
+ * If so the library will auto retry until a new payload is written
+ * or the user specified timeout period is reached.
+ * @warning It is important to never keep the nRF24L01 in TX mode and FIFO full for more than 4ms at a time. If the auto
+ * retransmit is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO
+ * to clear by issuing txStandBy() or ensure appropriate time between transmissions.
+ *
+ * @code
+ * Example (Full blocking):
+ *
+ * radio.writeBlocking(&buf,32,1000); //Wait up to 1 second to write 1 payload to the buffers
+ * txStandBy(1000); //Wait up to 1 second for the payload to send. Return 1 if ok, 0 if failed.
+ * //Blocks only until user timeout or success. Data flushed on fail.
+ * @endcode
+ * @note If used from within an interrupt, the interrupt should be disabled until completion, and sei(); called to enable millis().
+ * @see txStandBy()
+ * @see write()
+ * @see writeFast()
+ *
+ * @param buf Pointer to the data to be sent
+ * @param len Number of bytes to be sent
+ * @param timeout User defined timeout in milliseconds.
+ * @return True if the payload was loaded into the buffer successfully false if not
+ */
+ bool writeBlocking( const void* buf, uint8_t len, uint32_t timeout );
+
+ /**
+ * This function should be called as soon as transmission is finished to
+ * drop the radio back to STANDBY-I mode. If not issued, the radio will
+ * remain in STANDBY-II mode which, per the data sheet, is not a recommended
+ * operating mode.
+ *
+ * @note When transmitting data in rapid succession, it is still recommended by
+ * the manufacturer to drop the radio out of TX or STANDBY-II mode if there is
+ * time enough between sends for the FIFOs to empty. This is not required if auto-ack
+ * is enabled.
+ *
+ * Relies on built-in auto retry functionality.
+ *
+ * @code
+ * Example (Partial blocking):
+ *
+ * radio.writeFast(&buf,32);
+ * radio.writeFast(&buf,32);
+ * radio.writeFast(&buf,32); //Fills the FIFO buffers up
+ * bool ok = txStandBy(); //Returns 0 if failed. 1 if success.
+ * //Blocks only until MAX_RT timeout or success. Data flushed on fail.
+ * @endcode
+ * @see txStandBy(unsigned long timeout)
+ * @return True if transmission is successful
+ *
+ */
+ bool txStandBy();
+
+ /**
+ * This function allows extended blocking and auto-retries per a user defined timeout
+ * @code
+ * Fully Blocking Example:
+ *
+ * radio.writeFast(&buf,32);
+ * radio.writeFast(&buf,32);
+ * radio.writeFast(&buf,32); //Fills the FIFO buffers up
+ * bool ok = txStandBy(1000); //Returns 0 if failed after 1 second of retries. 1 if success.
+ * //Blocks only until user defined timeout or success. Data flushed on fail.
+ * @endcode
+ * @note If used from within an interrupt, the interrupt should be disabled until completion, and sei(); called to enable millis().
+ * @param timeout Number of milliseconds to retry failed payloads
+ * @return True if transmission is successful
+ *
+ */
+ bool txStandBy(uint32_t timeout, bool startTx = 0);
+
+ /**
+ * Write an ack payload for the specified pipe
+ *
+ * The next time a message is received on @p pipe, the data in @p buf will
+ * be sent back in the acknowledgement.
+ * @see enableAckPayload()
+ * @see enableDynamicPayloads()
+ * @warning Only three of these can be pending at any time as there are only 3 FIFO buffers.<br> Dynamic payloads must be enabled.
+ * @note Ack payloads are handled automatically by the radio chip when a payload is received. Users should generally
+ * write an ack payload as soon as startListening() is called, so one is available when a regular payload is received.
+ * @note Ack payloads are dynamic payloads. This only works on pipes 0&1 by default. Call
+ * enableDynamicPayloads() to enable on all pipes.
+ *
+ * @param pipe Which pipe# (typically 1-5) will get this response.
+ * @param buf Pointer to data that is sent
+ * @param len Length of the data to send, up to 32 bytes max. Not affected
+ * by the static payload set by setPayloadSize().
+ */
+ void writeAckPayload(uint8_t pipe, const void* buf, uint8_t len);
+
+ /**
+ * Determine if an ack payload was received in the most recent call to
+ * write(). The regular available() can also be used.
+ *
+ * Call read() to retrieve the ack payload.
+ *
+ * @return True if an ack payload is available.
+ */
+ bool isAckPayloadAvailable(void);
+
+ /**
+ * Call this when you get an interrupt to find out why
+ *
+ * Tells you what caused the interrupt, and clears the state of
+ * interrupts.
+ *
+ * @param[out] tx_ok The send was successful (TX_DS)
+ * @param[out] tx_fail The send failed, too many retries (MAX_RT)
+ * @param[out] rx_ready There is a message waiting to be read (RX_DS)
+ */
+ void whatHappened(bool& tx_ok,bool& tx_fail,bool& rx_ready);
+
+ /**
+ * Non-blocking write to the open writing pipe used for buffered writes
+ *
+ * @note Optimization: This function now leaves the CE pin high, so the radio
+ * will remain in TX or STANDBY-II Mode until a txStandBy() command is issued. Can be used as an alternative to startWrite()
+ * if writing multiple payloads at once.
+ * @warning It is important to never keep the nRF24L01 in TX mode with FIFO full for more than 4ms at a time. If the auto
+ * retransmit/autoAck is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO
+ * to clear by issuing txStandBy() or ensure appropriate time between transmissions.
+ *
+ * @see write()
+ * @see writeFast()
+ * @see startWrite()
+ * @see writeBlocking()
+ *
+ * For single noAck writes see:
+ * @see enableDynamicAck()
+ * @see setAutoAck()
+ *
+ * @param buf Pointer to the data to be sent
+ * @param len Number of bytes to be sent
+ * @param multicast Request ACK (0) or NOACK (1)
+ * @return True if the payload was delivered successfully false if not
+ */
+ void startFastWrite( const void* buf, uint8_t len, const bool multicast, bool startTx = 1 );
+
+ /**
+ * Non-blocking write to the open writing pipe
+ *
+ * Just like write(), but it returns immediately. To find out what happened
+ * to the send, catch the IRQ and then call whatHappened().
+ *
+ * @see write()
+ * @see writeFast()
+ * @see startFastWrite()
+ * @see whatHappened()
+ *
+ * For single noAck writes see:
+ * @see enableDynamicAck()
+ * @see setAutoAck()
+ *
+ * @param buf Pointer to the data to be sent
+ * @param len Number of bytes to be sent
+ * @param multicast Request ACK (0) or NOACK (1)
+ *
+ */
+ void startWrite( const void* buf, uint8_t len, const bool multicast );
+
+ /**
+ * This function is mainly used internally to take advantage of the auto payload
+ * re-use functionality of the chip, but can be beneficial to users as well.
+ *
+ * The function will instruct the radio to re-use the data in the FIFO buffers,
+ * and instructs the radio to re-send once the timeout limit has been reached.
+ * Used by writeFast and writeBlocking to initiate retries when a TX failure
+ * occurs. Retries are automatically initiated except with the standard write().
+ * This way, data is not flushed from the buffer until switching between modes.
+ *
+ * @note This is to be used AFTER auto-retry fails if wanting to resend
+ * using the built-in payload reuse features.
+ * After issuing reUseTX(), it will keep reending the same payload forever or until
+ * a payload is written to the FIFO, or a flush_tx command is given.
+ */
+ void reUseTX();
+
+ /**
+ * Empty the transmit buffer. This is generally not required in standard operation.
+ * May be required in specific cases after stopListening() , if operating at 250KBPS data rate.
+ *
+ * @return Current value of status register
+ */
+ uint8_t flush_tx(void);
+
+ /**
+ * Test whether there was a carrier on the line for the
+ * previous listening period.
+ *
+ * Useful to check for interference on the current channel.
+ *
+ * @return true if was carrier, false if not
+ */
+ bool testCarrier(void);
+
+ /**
+ * Test whether a signal (carrier or otherwise) greater than
+ * or equal to -64dBm is present on the channel. Valid only
+ * on nRF24L01P (+) hardware. On nRF24L01, use testCarrier().
+ *
+ * Useful to check for interference on the current channel and
+ * channel hopping strategies.
+ *
+ * @code
+ * bool goodSignal = radio.testRPD();
+ * if(radio.available()){
+ * Serial.println(goodSignal ? "Strong signal > 64dBm" : "Weak signal < 64dBm" );
+ * radio.read(0,0);
+ * }
+ * @endcode
+ * @return true if signal => -64dBm, false if not
+ */
+ bool testRPD(void) ;
+
+ /**
+ * Test whether this is a real radio, or a mock shim for
+ * debugging. Setting either pin to 0xff is the way to
+ * indicate that this is not a real radio.
+ *
+ * @return true if this is a legitimate radio
+ */
+ bool isValid() { return ce_pin != 0xff && csn_pin != 0xff; }
+
+ /**
+ * Close a pipe after it has been previously opened.
+ * Can be safely called without having previously opened a pipe.
+ * @param pipe Which pipe # to close, 0-5.
+ */
+ void closeReadingPipe( uint8_t pipe ) ;
+
+ /**
+ * Enable error detection by un-commenting #define FAILURE_HANDLING in RF24_config.h
+ * If a failure has been detected, it usually indicates a hardware issue. By default the library
+ * will cease operation when a failure is detected.
+ * This should allow advanced users to detect and resolve intermittent hardware issues.
+ *
+ * In most cases, the radio must be re-enabled via radio.begin(); and the appropriate settings
+ * applied after a failure occurs, if wanting to re-enable the device immediately.
+ *
+ * Usage: (Failure handling must be enabled per above)
+ * @code
+ * if(radio.failureDetected){
+ * radio.begin(); // Attempt to re-configure the radio with defaults
+ * radio.failureDetected = 0; // Reset the detection value
+ * radio.openWritingPipe(addresses[1]); // Re-configure pipe addresses
+ * radio.openReadingPipe(1,addresses[0]);
+ * report_failure(); // Blink leds, send a message, etc. to indicate failure
+ * }
+ * @endcode
+ */
+ //#if defined (FAILURE_HANDLING)
+ bool failureDetected;
+ //#endif
+
+ /**@}*/
+
+ /**@}*/
+ /**
+ * @name Optional Configurators
+ *
+ * Methods you can use to get or set the configuration of the chip.
+ * None are required. Calling begin() sets up a reasonable set of
+ * defaults.
+ */
+ /**@{*/
+
+ /**
+ * Set the address width from 3 to 5 bytes (24, 32 or 40 bit)
+ *
+ * @param a_width The address width to use: 3,4 or 5
+ */
+
+ void setAddressWidth(uint8_t a_width);
+
+ /**
+ * Set the number and delay of retries upon failed submit
+ *
+ * @param delay How long to wait between each retry, in multiples of 250us,
+ * max is 15. 0 means 250us, 15 means 4000us.
+ * @param count How many retries before giving up, max 15
+ */
+ void setRetries(uint8_t delay, uint8_t count);
+
+ /**
+ * Set RF communication channel
+ *
+ * @param channel Which RF channel to communicate on, 0-125
+ */
+ void setChannel(uint8_t channel);
+
+ /**
+ * Get RF communication channel
+ *
+ * @return The currently configured RF Channel
+ */
+ uint8_t getChannel(void);
+
+ /**
+ * Set Static Payload Size
+ *
+ * This implementation uses a pre-stablished fixed payload size for all
+ * transmissions. If this method is never called, the driver will always
+ * transmit the maximum payload size (32 bytes), no matter how much
+ * was sent to write().
+ *
+ * @todo Implement variable-sized payloads feature
+ *
+ * @param size The number of bytes in the payload
+ */
+ void setPayloadSize(uint8_t size);
+
+ /**
+ * Get Static Payload Size
+ *
+ * @see setPayloadSize()
+ *
+ * @return The number of bytes in the payload
+ */
+ uint8_t getPayloadSize(void);
+
+ /**
+ * Get Dynamic Payload Size
+ *
+ * For dynamic payloads, this pulls the size of the payload off
+ * the chip
+ *
+ * @note Corrupt packets are now detected and flushed per the
+ * manufacturer.
+ * @code
+ * if(radio.available()){
+ * if(radio.getDynamicPayloadSize() < 1){
+ * // Corrupt payload has been flushed
+ * return;
+ * }
+ * radio.read(&data,sizeof(data));
+ * }
+ * @endcode
+ *
+ * @return Payload length of last-received dynamic payload
+ */
+ uint8_t getDynamicPayloadSize(void);
+
+ /**
+ * Enable custom payloads on the acknowledge packets
+ *
+ * Ack payloads are a handy way to return data back to senders without
+ * manually changing the radio modes on both units.
+ *
+ * @note Ack payloads are dynamic payloads. This only works on pipes 0&1 by default. Call
+ * enableDynamicPayloads() to enable on all pipes.
+ */
+ void enableAckPayload(void);
+
+ /**
+ * Enable dynamically-sized payloads
+ *
+ * This way you don't always have to send large packets just to send them
+ * once in a while. This enables dynamic payloads on ALL pipes.
+ *
+ */
+ void enableDynamicPayloads(void);
+
+ /**
+ * Enable dynamic ACKs (single write multicast or unicast) for chosen messages
+ *
+ * @note To enable full multicast or per-pipe multicast, use setAutoAck()
+ *
+ * @warning This MUST be called prior to attempting single write NOACK calls
+ * @code
+ * radio.enableDynamicAck();
+ * radio.write(&data,32,1); // Sends a payload with no acknowledgement requested
+ * radio.write(&data,32,0); // Sends a payload using auto-retry/autoACK
+ * @endcode
+ */
+ void enableDynamicAck();
+
+ /**
+ * Determine whether the hardware is an nRF24L01+ or not.
+ *
+ * @return true if the hardware is nRF24L01+ (or compatible) and false
+ * if its not.
+ */
+ bool isPVariant(void) ;
+
+ /**
+ * Enable or disable auto-acknowlede packets
+ *
+ * This is enabled by default, so it's only needed if you want to turn
+ * it off for some reason.
+ *
+ * @param enable Whether to enable (true) or disable (false) auto-acks
+ */
+ void setAutoAck(bool enable);
+
+ /**
+ * Enable or disable auto-acknowlede packets on a per pipeline basis.
+ *
+ * AA is enabled by default, so it's only needed if you want to turn
+ * it off/on for some reason on a per pipeline basis.
+ *
+ * @param pipe Which pipeline to modify
+ * @param enable Whether to enable (true) or disable (false) auto-acks
+ */
+ void setAutoAck( uint8_t pipe, bool enable ) ;
+
+ /**
+ * Set Power Amplifier (PA) level to one of four levels:
+ * RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH and RF24_PA_MAX
+ *
+ * The power levels correspond to the following output levels respectively:
+ * NRF24L01: -18dBm, -12dBm,-6dBM, and 0dBm
+ *
+ * SI24R1: -6dBm, 0dBm, 3dBM, and 7dBm.
+ *
+ * @param level Desired PA level.
+ */
+ void setPALevel ( uint8_t level );
+
+ /**
+ * Fetches the current PA level.
+ *
+ * NRF24L01: -18dBm, -12dBm, -6dBm and 0dBm
+ * SI24R1: -6dBm, 0dBm, 3dBm, 7dBm
+ *
+ * @return Returns values 0 to 3 representing the PA Level.
+ */
+ uint8_t getPALevel( void );
+
+ /**
+ * Set the transmission data rate
+ *
+ * @warning setting RF24_250KBPS will fail for non-plus units
+ *
+ * @param speed RF24_250KBPS for 250kbs, RF24_1MBPS for 1Mbps, or RF24_2MBPS for 2Mbps
+ * @return true if the change was successful
+ */
+ bool setDataRate(rf24_datarate_e speed);
+
+ /**
+ * Fetches the transmission data rate
+ *
+ * @return Returns the hardware's currently configured datarate. The value
+ * is one of 250kbs, RF24_1MBPS for 1Mbps, or RF24_2MBPS, as defined in the
+ * rf24_datarate_e enum.
+ */
+ rf24_datarate_e getDataRate( void ) ;
+
+ /**
+ * Set the CRC length
+ * <br>CRC checking cannot be disabled if auto-ack is enabled
+ * @param length RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
+ */
+ void setCRCLength(rf24_crclength_e length);
+
+ /**
+ * Get the CRC length
+ * <br>CRC checking cannot be disabled if auto-ack is enabled
+ * @return RF24_DISABLED if disabled or RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
+ */
+ rf24_crclength_e getCRCLength(void);
+
+ /**
+ * Disable CRC validation
+ *
+ * @warning CRC cannot be disabled if auto-ack/ESB is enabled.
+ */
+ void disableCRC( void ) ;
+
+ /**
+ * The radio will generate interrupt signals when a transmission is complete,
+ * a transmission fails, or a payload is received. This allows users to mask
+ * those interrupts to prevent them from generating a signal on the interrupt
+ * pin. Interrupts are enabled on the radio chip by default.
+ *
+ * @code
+ * Mask all interrupts except the receive interrupt:
+ *
+ * radio.maskIRQ(1,1,0);
+ * @endcode
+ *
+ * @param tx_ok Mask transmission complete interrupts
+ * @param tx_fail Mask transmit failure interrupts
+ * @param rx_ready Mask payload received interrupts
+ */
+ void maskIRQ(bool tx_ok,bool tx_fail,bool rx_ready);
+
+ /**@}*/
+ /**
+ * @name Deprecated
+ *
+ * Methods provided for backwards compabibility.
+ */
+ /**@{*/
+
+
+ /**
+ * Open a pipe for reading
+ * @note For compatibility with old code only, see new function
+ *
+ * @warning Pipes 1-5 should share the first 32 bits.
+ * Only the least significant byte should be unique, e.g.
+ * @code
+ * openReadingPipe(1,0xF0F0F0F0AA);
+ * openReadingPipe(2,0xF0F0F0F066);
+ * @endcode
+ *
+ * @warning Pipe 0 is also used by the writing pipe. So if you open
+ * pipe 0 for reading, and then startListening(), it will overwrite the
+ * writing pipe. Ergo, do an openWritingPipe() again before write().
+ *
+ * @param number Which pipe# to open, 0-5.
+ * @param address The 40-bit address of the pipe to open.
+ */
+ void openReadingPipe(uint8_t number, uint64_t address);
+
+ /**
+ * Open a pipe for writing
+ * @note For compatibility with old code only, see new function
+ *
+ * Addresses are 40-bit hex values, e.g.:
+ *
+ * @code
+ * openWritingPipe(0xF0F0F0F0F0);
+ * @endcode
+ *
+ * @param address The 40-bit address of the pipe to open.
+ */
+ void openWritingPipe(uint64_t address);
+
+private:
+
+ /**
+ * @name Low-level internal interface.
+ *
+ * Protected methods that address the chip directly. Regular users cannot
+ * ever call these. They are documented for completeness and for developers who
+ * may want to extend this class.
+ */
+ /**@{*/
+
+ /**
+ * Set chip select pin
+ *
+ * Running SPI bus at PI_CLOCK_DIV2 so we don't waste time transferring data
+ * and best of all, we make use of the radio's FIFO buffers. A lower speed
+ * means we're less likely to effectively leverage our FIFOs and pay a higher
+ * AVR runtime cost as toll.
+ *
+ * @param mode HIGH to take this unit off the SPI bus, LOW to put it on
+ */
+ void csn(bool mode);
+
+ /**
+ * Set chip enable
+ *
+ * @param level HIGH to actively begin transmission or LOW to put in standby. Please see data sheet
+ * for a much more detailed description of this pin.
+ */
+ void ce(bool level);
+
+ /**
+ * Read a chunk of data in from a register
+ *
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param buf Where to put the data
+ * @param len How many bytes of data to transfer
+ * @return Current value of status register
+ */
+ uint8_t read_register(uint8_t reg, uint8_t* buf, uint8_t len);
+
+ /**
+ * Read single byte from a register
+ *
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @return Current value of register @p reg
+ */
+ uint8_t read_register(uint8_t reg);
+
+ /**
+ * Write a chunk of data to a register
+ *
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param buf Where to get the data
+ * @param len How many bytes of data to transfer
+ * @return Current value of status register
+ */
+ uint8_t write_register(uint8_t reg, const uint8_t* buf, uint8_t len);
+
+ /**
+ * Write a single byte to a register
+ *
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param value The new value to write
+ * @return Current value of status register
+ */
+ uint8_t write_register(uint8_t reg, uint8_t value);
+
+ /**
+ * Write the transmit payload
+ *
+ * The size of data written is the fixed payload size, see getPayloadSize()
+ *
+ * @param buf Where to get the data
+ * @param len Number of bytes to be sent
+ * @return Current value of status register
+ */
+ uint8_t write_payload(const void* buf, uint8_t len, const uint8_t writeType);
+
+ /**
+ * Read the receive payload
+ *
+ * The size of data read is the fixed payload size, see getPayloadSize()
+ *
+ * @param buf Where to put the data
+ * @param len Maximum number of bytes to read
+ * @return Current value of status register
+ */
+ uint8_t read_payload(void* buf, uint8_t len);
+
+ /**
+ * Empty the receive buffer
+ *
+ * @return Current value of status register
+ */
+ uint8_t flush_rx(void);
+
+ /**
+ * Retrieve the current status of the chip
+ *
+ * @return Current value of status register
+ */
+ uint8_t get_status(void);
+
+ #if !defined (MINIMAL)
+ /**
+ * Decode and print the given status to stdout
+ *
+ * @param status Status value to print
+ *
+ * @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
+ */
+ void print_status(uint8_t status);
+
+ /**
+ * Decode and print the given 'observe_tx' value to stdout
+ *
+ * @param value The observe_tx value to print
+ *
+ * @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
+ */
+ void print_observe_tx(uint8_t value);
+
+ /**
+ * Print the name and value of an 8-bit register to stdout
+ *
+ * Optionally it can print some quantity of successive
+ * registers on the same line. This is useful for printing a group
+ * of related registers on one line.
+ *
+ * @param name Name of the register
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param qty How many successive registers to print
+ */
+ void print_byte_register(const char* name, uint8_t reg, uint8_t qty = 1);
+
+ /**
+ * Print the name and value of a 40-bit address register to stdout
+ *
+ * Optionally it can print some quantity of successive
+ * registers on the same line. This is useful for printing a group
+ * of related registers on one line.
+ *
+ * @param name Name of the register
+ * @param reg Which register. Use constants from nRF24L01.h
+ * @param qty How many successive registers to print
+ */
+ void print_address_register(const char* name, uint8_t reg, uint8_t qty = 1);
+#endif
+ /**
+ * Turn on or off the special features of the chip
+ *
+ * The chip has certain 'features' which are only available when the 'features'
+ * are enabled. See the datasheet for details.
+ */
+ void toggle_features(void);
+
+ /**
+ * Built in spi transfer function to simplify repeating code repeating code
+ */
+
+ uint8_t spiTrans(uint8_t cmd);
+
+ #if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
+ void errNotify(void);
+ #endif
+
+ /**@}*/
+
+};
+
+
+/**
+ * @example GettingStarted.ino
+ * <b>For Arduino</b><br>
+ * <b>Updated: TMRh20 2014 </b><br>
+ *
+ * This is an example of how to use the RF24 class to communicate on a basic level. Configure and write this sketch to two
+ * different nodes. Put one of the nodes into 'transmit' mode by connecting with the serial monitor and <br>
+ * sending a 'T'. The ping node sends the current time to the pong node, which responds by sending the value
+ * back. The ping node can then see how long the whole cycle took. <br>
+ * @note For a more efficient call-response scenario see the GettingStarted_CallResponse.ino example.
+ * @note When switching between sketches, the radio may need to be powered down to clear settings that are not "un-set" otherwise
+ */
+
+ /**
+ * @example GettingStarted.cpp
+ * <b>For Raspberry Pi</b><br>
+ * <b>Updated: TMRh20 2014 </b><br>
+ *
+ * This is an example of how to use the RF24 class to communicate on a basic level. Configure and write this sketch to two
+ * different nodes. Put one of the nodes into 'transmit' mode by connecting with the serial monitor and <br>
+ * sending a 'T'. The ping node sends the current time to the pong node, which responds by sending the value
+ * back. The ping node can then see how long the whole cycle took. <br>
+ * @note For a more efficient call-response scenario see the GettingStarted_CallResponse.ino example.
+ */
+
+/**
+ * @example GettingStarted_CallResponse.ino
+ * <b>For Arduino</b><br>
+ * <b>New: TMRh20 2014</b><br>
+ *
+ * This example continues to make use of all the normal functionality of the radios including
+ * the auto-ack and auto-retry features, but allows ack-payloads to be written optionlly as well. <br>
+ * This allows very fast call-response communication, with the responding radio never having to
+ * switch out of Primary Receiver mode to send back a payload, but having the option to switch to <br>
+ * primary transmitter if wanting to initiate communication instead of respond to a commmunication.
+ */
+
+ /**
+ * @example GettingStarted_Call_Response.cpp
+ * <b>For Raspberry Pi</b><br>
+ * <b>New: TMRh20 2014</b><br>
+ *
+ * This example continues to make use of all the normal functionality of the radios including
+ * the auto-ack and auto-retry features, but allows ack-payloads to be written optionlly as well. <br>
+ * This allows very fast call-response communication, with the responding radio never having to
+ * switch out of Primary Receiver mode to send back a payload, but having the option to switch to <br>
+ * primary transmitter if wanting to initiate communication instead of respond to a commmunication.
+ */
+
+ /**
+ * @example GettingStarted_HandlingData.ino
+ * <b>Dec 2014 - TMRh20</b><br>
+ *
+ * This example demonstrates how to send multiple variables in a single payload and work with data. As usual, it is
+ * generally important to include an incrementing value like millis() in the payloads to prevent errors.
+ */
+
+/**
+ * @example Transfer.ino
+ * <b>For Arduino</b><br>
+ * This example demonstrates half-rate transfer using the FIFO buffers<br>
+ *
+ * It is an example of how to use the RF24 class. Write this sketch to two
+ * different nodes. Put one of the nodes into 'transmit' mode by connecting <br>
+ * with the serial monitor and sending a 'T'. The data transfer will begin,
+ * with the receiver displaying the payload count. (32Byte Payloads) <br>
+ */
+
+ /**
+ * @example Transfer.cpp
+ * <b>For Raspberry Pi</b><br>
+ * This example demonstrates half-rate transfer using the FIFO buffers<br>
+ *
+ * It is an example of how to use the RF24 class. Write this sketch to two
+ * different nodes. Put one of the nodes into 'transmit' mode by connecting <br>
+ * with the serial monitor and sending a 'T'. The data transfer will begin,
+ * with the receiver displaying the payload count. (32Byte Payloads) <br>
+ */
+
+/**
+ * @example TransferTimeouts.ino
+ * <b>New: TMRh20 </b><br>
+ * This example demonstrates the use of and extended timeout period and
+ * auto-retries/auto-reUse to increase reliability in noisy or low signal scenarios. <br>
+ *
+ * Write this sketch to two different nodes. Put one of the nodes into 'transmit'
+ * mode by connecting with the serial monitor and sending a 'T'. The data <br>
+ * transfer will begin, with the receiver displaying the payload count and the
+ * data transfer rate.
+ */
+
+/**
+ * @example starping.pde
+ *
+ * This sketch is a more complex example of using the RF24 library for Arduino.
+ * Deploy this on up to six nodes. Set one as the 'pong receiver' by tying the
+ * role_pin low, and the others will be 'ping transmit' units. The ping units
+ * unit will send out the value of millis() once a second. The pong unit will
+ * respond back with a copy of the value. Each ping unit can get that response
+ * back, and determine how long the whole cycle took.
+ *
+ * This example requires a bit more complexity to determine which unit is which.
+ * The pong receiver is identified by having its role_pin tied to ground.
+ * The ping senders are further differentiated by a byte in eeprom.
+ */
+
+/**
+ * @example pingpair_ack.ino
+ * <b>Update: TMRh20</b><br>
+ * This example continues to make use of all the normal functionality of the radios including
+ * the auto-ack and auto-retry features, but allows ack-payloads to be written optionlly as well.<br>
+ * This allows very fast call-response communication, with the responding radio never having to
+ * switch out of Primary Receiver mode to send back a payload, but having the option to if wanting<br>
+ * to initiate communication instead of respond to a commmunication.
+ */
+
+/**
+ * @example pingpair_irq.ino
+ * <b>Update: TMRh20</b><br>
+ * This is an example of how to user interrupts to interact with the radio, and a demonstration
+ * of how to use them to sleep when receiving, and not miss any payloads.<br>
+ * The pingpair_sleepy example expands on sleep functionality with a timed sleep option for the transmitter.
+ * Sleep functionality is built directly into my fork of the RF24Network library<br>
+ */
+
+ /**
+ * @example pingpair_irq_simple.ino
+ * <b>Dec 2014 - TMRh20</b><br>
+ * This is an example of how to user interrupts to interact with the radio, with bidirectional communication.
+ */
+
+/**
+ * @example pingpair_sleepy.ino
+ * <b>Update: TMRh20</b><br>
+ * This is an example of how to use the RF24 class to create a battery-
+ * efficient system. It is just like the GettingStarted_CallResponse example, but the<br>
+ * ping node powers down the radio and sleeps the MCU after every
+ * ping/pong cycle, and the receiver sleeps between payloads. <br>
+ */
+
+ /**
+ * @example rf24ping85.ino
+ * <b>New: Contributed by https://github.com/tong67</b><br>
+ * This is an example of how to use the RF24 class to communicate with ATtiny85 and other node. <br>
+ */
+
+ /**
+ * @example timingSearch3pin.ino
+ * <b>New: Contributed by https://github.com/tong67</b><br>
+ * This is an example of how to determine the correct timing for ATtiny when using only 3-pins
+ */
+
+/**
+ * @example pingpair_dyn.ino
+ *
+ * This is an example of how to use payloads of a varying (dynamic) size on Arduino.
+ */
+
+ /**
+ * @example pingpair_dyn.cpp
+ *
+ * This is an example of how to use payloads of a varying (dynamic) size on Raspberry Pi.
+ */
+
+/**
+ * @example pingpair_dyn.py
+ *
+ * This is a python example for RPi of how to use payloads of a varying (dynamic) size.
+ */
+
+/**
+ * @example pingpair_dyn.ino
+ *
+ * This is an example of how to use payloads of a varying (dynamic) size.
+ */
+
+ /**
+ * @example pingpair_dyn.ino
+ *
+ * This is an example of how to use payloads of a varying (dynamic) size.
+ */
+
+/**
+ * @example scanner.ino
+ *
+ * Example to detect interference on the various channels available.
+ * This is a good diagnostic tool to check whether you're picking a
+ * good channel for your application.
+ *
+ * Inspired by cpixip.
+ * See http://arduino.cc/forum/index.php/topic,54795.0.html
+ */
+
+/**
+ * @mainpage Optimized High Speed Driver for nRF24L01(+) 2.4GHz Wireless Transceiver
+ *
+ * @section Goals Design Goals
+ *
+ * This library fork is designed to be...
+ * @li More compliant with the manufacturer specified operation of the chip, while allowing advanced users
+ * to work outside the recommended operation.
+ * @li Utilize the capabilities of the radio to their full potential via Arduino
+ * @li More reliable, responsive, bug-free and feature rich
+ * @li Easy for beginners to use, with well documented examples and features
+ * @li Consumed with a public interface that's similar to other Arduino standard libraries
+ *
+ * @section News News
+ *
+ * **Dec 2015**<br>
+ * - ESP8266 support via Arduino IDE
+ * - <a href="https://github.com/stewarthou/Particle-RF24">Particle Photon/Core</a> fork available
+ * - ATTiny2313/4313 support added
+ * - Python 3 support added
+ * - RF24 added to Arduino library manager
+ * - RF24 added to PlatformIO library manager
+ *
+ * **March 2015**<br>
+ * - Uses SPI transactions on Arduino
+ * - New layout for <a href="Portability.html">easier portability:</a> Break out defines & includes for individual platforms to RF24/utility
+ * - <a href="MRAA.html">MRAA</a> support added ( Galileo, Edison, etc)
+ * - <a href="BBB.html">BBB/Generic Linux </a> support via spidev & MRAA
+ * - Support for RPi 2 added
+ * - Major Documentation cleanup & update (Move all docs to github.io)
+ *
+ *
+ * If issues are discovered with the documentation, please report them <a href="https://github.com/TMRh20/tmrh20.github.io/issues"> here</a>
+ *
+ * <br>
+ * @section Useful Useful References
+ *
+ *
+ * @li <a href="http://tmrh20.github.io/RF24/classRF24.html"><b>RF24</b> Class Documentation</a>
+ * @li <a href="https://github.com/TMRh20/RF24/archive/master.zip"><b>Download</b></a>
+ * @li <a href="https://github.com/tmrh20/RF24/"><b>Source Code</b></a>
+ * @li <a href="http://tmrh20.blogspot.com/2014/03/high-speed-data-transfers-and-wireless.html"><b>My Blog:</b> RF24 Optimization Overview</a>
+ * @li <a href="http://www.nordicsemi.com/files/Product/data_sheet/nRF24L01_Product_Specification_v2_0.pdf">Chip Datasheet</a>
+ *
+ * **Additional Information and Add-ons**
+ *
+ * @li <a href="http://tmrh20.github.io/RF24Network"> <b>RF24Network:</b> OSI Network Layer for multi-device communication. Create a home sensor network.</a>
+ * @li <a href="http://tmrh20.github.io/RF24Mesh"> <b>RF24Mesh:</b> Dynamic Mesh Layer for RF24Network</a>
+ * @li <a href="http://tmrh20.github.io/RF24Ethernet"> <b>RF24Ethernet:</b> TCP/IP Radio Mesh Networking (shares Arduino Ethernet API)</a>
+ * @li <a href="http://tmrh20.github.io/RF24Audio"> <b>RF24Audio:</b> Realtime Wireless Audio streaming</a>
+ * @li <a href="http://tmrh20.github.io/">All TMRh20 Documentation Main Page</a>
+ *
+ * **More Information and RF24 Based Projects**
+ *
+ * @li <a href="http://TMRh20.blogspot.com"> Project Blog: TMRh20.blogspot.com </a>
+ * @li <a href="http://maniacalbits.blogspot.ca/"> Maniacal Bits Blog</a>
+ * @li <a href="http://www.mysensors.org/">MySensors.org (User friendly sensor networks/IoT)</a>
+ * @li <a href="https://github.com/mannkind/RF24Node_MsgProto"> RF24Node_MsgProto (MQTT)</a>
+ * @li <a href="https://bitbucket.org/pjhardy/rf24sensornet/"> RF24SensorNet </a>
+ * @li <a href="http://www.homeautomationforgeeks.com/rf24software.shtml">Home Automation for Geeks</a>
+ * @li <a href="https://maniacbug.wordpress.com/2012/03/30/rf24network/"> Original Maniacbug RF24Network Blog Post</a>
+ * @li <a href="https://github.com/maniacbug/RF24"> ManiacBug on GitHub (Original Library Author)</a>
+ *
+ *
+ * <br>
+ *
+ * @section Platform_Support Platform Support Pages
+ *
+ * @li <a href="Arduino.html"><b>Arduino</b></a> (Uno, Nano, Mega, Due, Galileo, etc)
+ * @li <a href="ATTiny.html"><b>ATTiny</b></a>
+ * @li Linux ( <a href="RPi.html"><b>RPi</b></a> , <a href="BBB.html"><b>BBB</b></a>, <a href="MRAA.html"><b>MRAA</b></a> supported boards ( Galileo, Edison, etc))
+ * @li <a href="Python.html"><b>Python</b></a> wrapper available for RPi
+ *
+ * <br>
+ * **General µC Pin layout** (See the individual board support pages for more info)
+ *
+ * The table below shows how to connect the the pins of the NRF24L01(+) to different boards.
+ * CE and CSN are configurable.
+ *
+ * | PIN | NRF24L01 | Arduino UNO | ATtiny25/45/85 [0] | ATtiny44/84 [1] | LittleWire [2] | RPI | RPi -P1 Connector |
+ * |-----|----------|-------------|--------------------|-----------------|-------------------------|------------|-------------------|
+ * | 1 | GND | GND | pin 4 | pin 14 | GND | rpi-gnd | (25) |
+ * | 2 | VCC | 3.3V | pin 8 | pin 1 | regulator 3.3V required | rpi-3v3 | (17) |
+ * | 3 | CE | digIO 7 | pin 2 | pin 12 | pin to 3.3V | rpi-gpio22 | (15) |
+ * | 4 | CSN | digIO 8 | pin 3 | pin 11 | RESET | rpi-gpio8 | (24) |
+ * | 5 | SCK | digIO 13 | pin 7 | pin 9 | SCK | rpi-sckl | (23) |
+ * | 6 | MOSI | digIO 11 | pin 6 | pin 7 | MOSI | rpi-mosi | (19) |
+ * | 7 | MISO | digIO 12 | pin 5 | pin 8 | MISO | rpi-miso | (21) |
+ * | 8 | IRQ | - | - | - | - | - | - |
+ *
+ * @li [0] https://learn.sparkfun.com/tutorials/tiny-avr-programmer-hookup-guide/attiny85-use-hints
+ * @li [1] http://highlowtech.org/?p=1695
+ * @li [2] http://littlewire.cc/
+ * <br><br><br>
+ *
+ *
+ *
+ *
+ * @page Arduino Arduino
+ *
+ * RF24 is fully compatible with Arduino boards <br>
+ * See <b> http://www.arduino.cc/en/Reference/Board </b> and <b> http://arduino.cc/en/Reference/SPI </b> for more information
+ *
+ * RF24 makes use of the standard hardware SPI pins (MISO,MOSI,SCK) and requires two additional pins, to control
+ * the chip-select and chip-enable functions.<br>
+ * These pins must be chosen and designated by the user, in RF24 radio(ce_pin,cs_pin); and can use any
+ * available pins.
+ *
+ * <br>
+ * @section ARD_DUE Arduino Due
+ *
+ * RF24 makes use of the extended SPI functionality available on the Arduino Due, and requires one of the
+ * defined hardware SS/CS pins to be designated in RF24 radio(ce_pin,cs_pin);<br>
+ * See http://arduino.cc/en/Reference/DueExtendedSPI for more information
+ *
+ * Initial Due support taken from https://github.com/mcrosson/RF24/tree/due
+ *
+ * <br>
+ * @section Alternate_SPI Alternate SPI Support
+ *
+ * RF24 supports alternate SPI methods, in case the standard hardware SPI pins are otherwise unavailable.
+ *
+ * <br>
+ * **Software Driven SPI**
+ *
+ * Software driven SPI is provided by the <a href=https://github.com/greiman/DigitalIO>DigitalIO</a> library
+ *
+ * Setup:<br>
+ * 1. Install the digitalIO library<br>
+ * 2. Open RF24_config.h in a text editor. Uncomment the line #define SOFTSPI<br>
+ * 3. In your sketch, add #include DigitalIO.h
+ *
+ * @note Note: Pins are listed as follows and can be modified by editing the RF24_config.h file<br>
+ *
+ * const uint8_t SOFT_SPI_MISO_PIN = 16;
+ * const uint8_t SOFT_SPI_MOSI_PIN = 15;
+ * const uint8_t SOFT_SPI_SCK_PIN = 14;
+ *
+ * <br>
+ * **Alternate Hardware (UART) Driven SPI**
+ *
+ * The Serial Port (UART) on Arduino can also function in SPI mode, and can double-buffer data, while the
+ * default SPI hardware cannot.
+ *
+ * The SPI_UART library is available at https://github.com/TMRh20/Sketches/tree/master/SPI_UART
+ *
+ * Enabling:
+ * 1. Install the SPI_UART library
+ * 2. Edit RF24_config.h and uncomment #define SPI_UART
+ * 3. In your sketch, add @code #include <SPI_UART.h> @endcode
+ *
+ * SPI_UART SPI Pin Connections:
+ * | NRF |Arduino Uno Pin|
+ * |-----|---------------|
+ * | MOSI| TX(0) |
+ * | MISO| RX(1) |
+ * | SCK | XCK(4) |
+ * | CE | User Specified|
+ * | CSN | User Specified|
+ *
+ *
+ * @note SPI_UART on Mega boards requires soldering to an unused pin on the chip. <br>See
+ * https://github.com/TMRh20/RF24/issues/24 for more information on SPI_UART.
+ *
+ * @page ATTiny ATTiny
+ *
+ * ATTiny support is built into the library, so users are not required to include SPI.h in their sketches<br>
+ * See the included rf24ping85 example for pin info and usage
+ *
+ * Some versions of Arduino IDE may require a patch to allow use of the full program space on ATTiny<br>
+ * See https://github.com/TCWORLD/ATTinyCore/tree/master/PCREL%20Patch%20for%20GCC for ATTiny patch
+ *
+ * ATTiny board support initially added from https://github.com/jscrane/RF24
+ *
+ * @section Hardware Hardware Configuration
+ * By tong67 ( https://github.com/tong67 )
+ *
+ * **ATtiny25/45/85 Pin map with CE_PIN 3 and CSN_PIN 4**
+ * @code
+ * +-\/-+
+ * NC PB5 1|o |8 Vcc --- nRF24L01 VCC, pin2 --- LED --- 5V
+ * nRF24L01 CE, pin3 --- PB3 2| |7 PB2 --- nRF24L01 SCK, pin5
+ * nRF24L01 CSN, pin4 --- PB4 3| |6 PB1 --- nRF24L01 MOSI, pin6
+ * nRF24L01 GND, pin1 --- GND 4| |5 PB0 --- nRF24L01 MISO, pin7
+ * +----+
+ * @endcode
+ *
+ * <br>
+ * **ATtiny25/45/85 Pin map with CE_PIN 3 and CSN_PIN 3** => PB3 and PB4 are free to use for application <br>
+ * Circuit idea from http://nerdralph.blogspot.ca/2014/01/nrf24l01-control-with-3-attiny85-pins.html <br>
+ * Original RC combination was 1K/100nF. 22K/10nF combination worked better. <br>
+ * For best settletime delay value in RF24::csn() the timingSearch3pin.ino sketch can be used. <br>
+ * This configuration is enabled when CE_PIN and CSN_PIN are equal, e.g. both 3 <br>
+ * Because CE is always high the power consumption is higher than for 5 pins solution <br>
+ * @code
+ * ^^
+ * +-\/-+ nRF24L01 CE, pin3 ------| //
+ * PB5 1|o |8 Vcc --- nRF24L01 VCC, pin2 ------x----------x--|<|-- 5V
+ * NC PB3 2| |7 PB2 --- nRF24L01 SCK, pin5 --|<|---x-[22k]--| LED
+ * NC PB4 3| |6 PB1 --- nRF24L01 MOSI, pin6 1n4148 |
+ * nRF24L01 GND, pin1 -x- GND 4| |5 PB0 --- nRF24L01 MISO, pin7 |
+ * | +----+ |
+ * |-----------------------------------------------||----x-- nRF24L01 CSN, pin4
+ * 10nF
+ * @endcode
+ *
+ * <br>
+ * **ATtiny24/44/84 Pin map with CE_PIN 8 and CSN_PIN 7** <br>
+ * Schematic provided and successfully tested by Carmine Pastore (https://github.com/Carminepz) <br>
+ * @code
+ * +-\/-+
+ * nRF24L01 VCC, pin2 --- VCC 1|o |14 GND --- nRF24L01 GND, pin1
+ * PB0 2| |13 AREF
+ * PB1 3| |12 PA1
+ * PB3 4| |11 PA2 --- nRF24L01 CE, pin3
+ * PB2 5| |10 PA3 --- nRF24L01 CSN, pin4
+ * PA7 6| |9 PA4 --- nRF24L01 SCK, pin5
+ * nRF24L01 MISO, pin7 --- PA6 7| |8 PA5 --- nRF24L01 MOSI, pin6
+ * +----+
+ * @endcode
+ *
+ * <br>
+ * **ATtiny2313/4313 Pin map with CE_PIN 12 and CSN_PIN 13** <br>
+ * @code
+ * +-\/-+
+ * PA2 1|o |20 VCC --- nRF24L01 VCC, pin2
+ * PD0 2| |19 PB7 --- nRF24L01 SCK, pin5
+ * PD1 3| |18 PB6 --- nRF24L01 MOSI, pin6
+ * PA1 4| |17 PB5 --- nRF24L01 MISO, pin7
+ * PA0 5| |16 PB4 --- nRF24L01 CSN, pin4
+ * PD2 6| |15 PB3 --- nRF24L01 CE, pin3
+ * PD3 7| |14 PB2
+ * PD4 8| |13 PB1
+ * PD5 9| |12 PB0
+ * nRF24L01 GND, pin1 --- GND 10| |11 PD6
+ * +----+
+ * @endcode
+ *
+ * <br><br><br>
+ *
+ *
+ *
+ *
+ *
+ *
+ * @page BBB BeagleBone Black
+ *
+ * BeagleBone Black is supported via MRAA or SPIDEV.
+ *
+ * @note The SPIDEV option should work with most Linux systems supporting SPIDEV. <br>
+ * Users may need to edit the RF24/utility/BBB/spi.cpp file to configure the spi device. (Defaults: "/dev/spidev1.0"; or "/dev/spidev1.1"; )
+ *
+ * <br>
+ * @section AutoInstall Automated Install
+ *(**Designed & Tested on RPi** - Defaults to SPIDEV on BBB)
+ *
+ *
+ * 1. Download the install.sh file from http://tmrh20.github.io/RF24Installer/RPi/install.sh
+ * @code wget http://tmrh20.github.io/RF24Installer/RPi/install.sh @endcode
+ * 2. Make it executable:
+ * @code chmod +x install.sh @endcode
+ * 3. Run it and choose your options
+ * @code ./install.sh @endcode
+ * 4. Run an example from one of the libraries
+ * @code
+ * cd rf24libs/RF24/examples_RPi
+ * @endcode
+ * Edit the gettingstarted example, to set your pin configuration
+ * @code nano gettingstarted.cpp
+ * make
+ * sudo ./gettingstarted
+ * @endcode
+ *
+ * <br>
+ * @section ManInstall Manual Install
+ * 1. Make a directory to contain the RF24 and possibly RF24Network lib and enter it:
+ * @code
+ * mkdir ~/rf24libs
+ * cd ~/rf24libs
+* @endcode
+ * 2. Clone the RF24 repo:
+ * @code git clone https://github.com/tmrh20/RF24.git RF24 @endcode
+ * 3. Change to the new RF24 directory
+ * @code cd RF24 @endcode
+ * 4. Build the library, and run an example file:
+ * **Note:** See the <a href="http://iotdk.intel.com/docs/master/mraa/index.html">MRAA </a> documentation for more info on installing MRAA
+ * @code sudo make install OR sudo make install RF24_MRAA=1 @endcode
+ * @code
+ * cd examples_RPi
+ * @endcode
+ * Edit the gettingstarted example, to set your pin configuration
+ * @code nano gettingstarted.cpp
+ * make
+ * sudo ./gettingstarted
+ * @endcode
+ *
+ * <br><br>
+ *
+ * @page MRAA MRAA
+ *
+ * MRAA is a Low Level Skeleton Library for Communication on GNU/Linux platforms <br>
+ * See http://iotdk.intel.com/docs/master/mraa/index.html for more information
+ *
+ * RF24 supports all MRAA supported platforms, but might not be tested on each individual platform due to the wide range of hardware support:<br>
+ * <a href="https://github.com/TMRh20/RF24/issues">Report an RF24 bug or issue </a>
+ *
+ * @section Setup Setup
+ * 1. Install the MRAA lib
+ * 2. As per your device, SPI may need to be enabled
+ *
+ * @section MRAA_Install Install
+ *
+ * 1. Make a directory to contain the RF24 and possibly RF24Network lib and enter it:
+ * @code
+ * mkdir ~/rf24libs
+ * cd ~/rf24libs
+* @endcode
+ * 2. Clone the RF24 repo:
+ * @code git clone https://github.com/tmrh20/RF24.git RF24 @endcode
+ * 3. Change to the new RF24 directory
+ * @code cd RF24 @endcode
+ * 4. Build the library:
+ * @code sudo make install -B RF24_MRAA=1 @endcode
+ * 5. Configure the correct pins in gettingstarted.cpp (See http://iotdk.intel.com/docs/master/mraa/index.html )
+ * @code
+ * cd examples_RPi
+ * nano gettingstarted.cpp
+ * @endcode
+ * 6. Build an example
+ * @code
+ * make
+ * sudo ./gettingstarted
+ * @endcode
+ *
+ * <br><br><br>
+ *
+ *
+ *
+ *
+ * @page RPi Raspberry Pi
+ *
+ * RF24 supports a variety of Linux based devices via various drivers. Some boards like RPi can utilize multiple methods
+ * to drive the GPIO and SPI functionality.
+ *
+ * <br>
+ * @section PreConfig Potential PreConfiguration
+ *
+ * If SPI is not already enabled, load it on boot:
+ * @code sudo raspi-config @endcode
+ * A. Update the tool via the menu as required<br>
+ * B. Select **Advanced** and **enable the SPI kernel module** <br>
+ * C. Update other software and libraries:
+ * @code sudo apt-get update @endcode
+ * @code sudo apt-get upgrade @endcode
+ * <br>
+ * @section AutoInstall Automated Install
+ *
+ * 1. Download the install.sh file from http://tmrh20.github.io/RF24Installer/RPi/install.sh
+ * @code wget http://tmrh20.github.io/RF24Installer/RPi/install.sh @endcode
+ * 2. Make it executable:
+ * @code chmod +x install.sh @endcode
+ * 3. Run it and choose your options
+ * @code ./install.sh @endcode
+ * 4. Run an example from one of the libraries
+ * @code
+ * cd rf24libs/RF24/examples_RPi
+ * make
+ * sudo ./gettingstarted
+ * @endcode
+ * <br><br>
+ * @section ManInstall Manual Install
+ * 1. Make a directory to contain the RF24 and possibly RF24Network lib and enter it:
+ * @code
+ * mkdir ~/rf24libs
+ * cd ~/rf24libs
+* @endcode
+ * 2. Clone the RF24 repo:
+ * @code git clone https://github.com/tmrh20/RF24.git RF24 @endcode
+ * 3. Change to the new RF24 directory
+ * @code cd RF24 @endcode
+ * 4. Build the library, and run an example file:
+ * @code sudo make install
+ * cd examples_RPi
+ * make
+ * sudo ./gettingstarted
+ * @endcode
+ *
+ * <br><br>
+ * @section Build Build Options
+ * The default build on Raspberry Pi utilizes the included **BCM2835** driver from http://www.airspayce.com/mikem/bcm2835
+ * 1. @code sudo make install -B @endcode
+ *
+ * Build using the **MRAA** library from http://iotdk.intel.com/docs/master/mraa/index.html <br>
+ * MRAA is not included. See the <a href="MRAA.html">MRAA</a> platform page for more information.
+ *
+ * 1. Install, and build MRAA:
+ * @code
+ * git clone https://github.com/intel-iot-devkit/mraa.git
+ * cd mraa
+ * mkdir build
+ * cd build
+ * cmake .. -DBUILDSWIGNODE=OFF
+ * sudo make install
+ * @endcode
+ *
+ * 2. Complete the install <br>
+ * @code nano /etc/ld.so.conf @endcode
+ * Add the line @code /usr/local/lib/arm-linux-gnueabihf @endcode
+ * Run @code sudo ldconfig @endcode
+ *
+ * 3. Install RF24, using MRAA
+ * @code sudo make install -B RF24_MRAA=1 @endcode
+ * See the gettingstarted example for an example of pin configuration
+ *
+ * Build using **spidev**:
+ *
+ * 1. Edit the RF24/utility/BBB/spi.cpp file
+ * 2. Change the default device definition to @code this->device = "/dev/spidev0.0";; @endcode
+ * 3. Run @code sudo make install -B RF24_SPIDEV=1 @endcode
+ * 4. See the gettingstarted example for an example of pin configuration
+ *
+ * <br>
+ * @section Pins Connections and Pin Configuration
+ *
+ *
+ * Using pin 15/GPIO 22 for CE, pin 24/GPIO8 (CE0) for CSN
+ *
+ * Can use either RPi CE0 or CE1 pins for radio CSN.<br>
+ * Choose any RPi output pin for radio CE pin.
+ *
+ * **BCM2835 Constructor:**
+ * @code
+ * RF24 radio(RPI_V2_GPIO_P1_15,BCM2835_SPI_CS0, BCM2835_SPI_SPEED_8MHZ);
+ * or
+ * RF24 radio(RPI_V2_GPIO_P1_15,BCM2835_SPI_CS1, BCM2835_SPI_SPEED_8MHZ);
+ *
+ * RPi B+:
+ * RF24 radio(RPI_BPLUS_GPIO_J8_15,RPI_BPLUS_GPIO_J8_24, BCM2835_SPI_SPEED_8MHZ);
+ * or
+ * RF24 radio(RPI_BPLUS_GPIO_J8_15,RPI_BPLUS_GPIO_J8_26, BCM2835_SPI_SPEED_8MHZ);
+ *
+ * General:
+ * RF24 radio(22,0);
+ * or
+ * RF24 radio(22,1);
+ *
+ * @endcode
+ * See the gettingstarted example for an example of pin configuration
+ *
+ * See http://www.airspayce.com/mikem/bcm2835/index.html for BCM2835 class documentation.
+ * <br><br>
+ * **MRAA Constructor:**
+ *
+ * @code RF24 radio(15,0); @endcode
+ *
+ * See http://iotdk.intel.com/docs/master/mraa/rasppi.html
+ * <br><br>
+ * **SPI_DEV Constructor**
+ *
+ * @code RF24 radio(22,0); @endcode
+ *
+ * See http://pi.gadgetoid.com/pinout
+ *
+ * **Pins:**
+ *
+ * | PIN | NRF24L01 | RPI | RPi -P1 Connector |
+ * |-----|----------|------------|-------------------|
+ * | 1 | GND | rpi-gnd | (25) |
+ * | 2 | VCC | rpi-3v3 | (17) |
+ * | 3 | CE | rpi-gpio22 | (15) |
+ * | 4 | CSN | rpi-gpio8 | (24) |
+ * | 5 | SCK | rpi-sckl | (23) |
+ * | 6 | MOSI | rpi-mosi | (19) |
+ * | 7 | MISO | rpi-miso | (21) |
+ * | 8 | IRQ | - | - |
+ *
+ *
+ *
+ *
+ * <br><br>
+ ****************
+ *
+ * Based on the arduino lib from J. Coliz <maniacbug@ymail.com> <br>
+ * the library was berryfied by Purinda Gunasekara <purinda@gmail.com> <br>
+ * then forked from github stanleyseow/RF24 to https://github.com/jscrane/RF24-rpi <br>
+ * Network lib also based on https://github.com/farconada/RF24Network
+ *
+ *
+ *
+ *
+ * <br><br><br>
+ *
+ *
+ *
+ * @page Python Python Wrapper (by https://github.com/mz-fuzzy)
+ *
+ * @section Install Installation:
+ *
+ * Install the boost libraries: (Note: Only the python libraries should be needed, this is just for simplicity)
+ *
+ * @code sudo apt-get install libboost1.50-all @endcode
+ *
+ * Build the library:
+ *
+ * @code ./setup.py build @endcode
+ *
+ * Install the library
+ *
+ * @code sudo ./setup.py install @endcode
+ *
+ *
+ * See the additional <a href="pages.html">Platform Support</a> pages for information on connecting your hardware <br>
+ * See the included <a href="pingpair_dyn_8py-example.html">example </a> for usage information.
+ *
+ * Running the Example:
+ *
+ * Edit the pingpair_dyn.py example to configure the appropriate pins per the above documentation:
+ *
+ * @code nano pingpair_dyn.py @endcode
+ *
+ * Configure another device, Arduino or RPi with the <a href="pingpair_dyn_8py-example.html">pingpair_dyn</a> example
+ *
+ * Run the example
+ *
+ * @code sudo ./pingpair_dyn.py @endcode
+ *
+ * <br><br><br>
+ *
+ *
+ * @page Portability RF24 Portability
+ *
+ * The RF24 radio driver mainly utilizes the <a href="http://arduino.cc/en/reference/homePage">Arduino API</a> for GPIO, SPI, and timing functions, which are easily replicated
+ * on various platforms. <br>Support files for these platforms are stored under RF24/utility, and can be modified to provide
+ * the required functionality.
+ *
+ * <br>
+ * @section Hardware_Templates Basic Hardware Template
+ *
+ * **RF24/utility**
+ *
+ * The RF24 library now includes a basic hardware template to assist in porting to various platforms. <br> The following files can be included
+ * to replicate standard Arduino functions as needed, allowing devices from ATTiny to Raspberry Pi to utilize the same core RF24 driver.
+ *
+ * | File | Purpose |
+ * |--------------------|------------------------------------------------------------------------------|
+ * | RF24_arch_config.h | Basic Arduino/AVR compatibility, includes for remaining support files, etc |
+ * | includes.h | Linux only. Defines specific platform, include correct RF24_arch_config file |
+ * | spi.h | Provides standardized SPI ( transfer() ) methods |
+ * | gpio.h | Provides standardized GPIO ( digitalWrite() ) methods |
+ * | compatibility.h | Provides standardized timing (millis(), delay()) methods |
+ * | your_custom_file.h | Provides access to custom drivers for spi,gpio, etc |
+ *
+ * <br>
+ * Examples are provided via the included hardware support templates in **RF24/utility** <br>
+ * See the <a href="modules.html">modules</a> page for examples of class declarations
+ *
+ *<br>
+ * @section Device_Detection Device Detection
+ *
+ * 1. The main detection for Linux devices is done in the Makefile, with the includes.h from the proper hardware directory copied to RF24/utility/includes.h <br>
+ * 2. Secondary detection is completed in RF24_config.h, causing the include.h file to be included for all supported Linux devices <br>
+ * 3. RF24.h contains the declaration for SPI and GPIO objects 'spi' and 'gpio' to be used for porting-in related functions.
+ *
+ * <br>
+ * @section Ported_Code Code
+ * To have your ported code included in this library, or for assistance in porting, create a pull request or open an issue at https://github.com/TMRh20/RF24
+ *
+ *
+ *<br><br><br>
+ */
+
+#endif // __RF24_H__
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RF24_config.h Sat Dec 03 08:21:37 2022 +0000
@@ -0,0 +1,68 @@
+/*
+ Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+/*
+ * Mbed support added by Akash Vibhute <akash.roboticist@gmail.com>
+ * Porting completed on Nov/05/2015
+ *
+ * Updated 1: Synced with TMRh20's RF24 library on Nov/04/2015 from https://github.com/TMRh20
+ * Updated 2: Synced with TMRh20's RF24 library on Apr/18/2015 from https://github.com/TMRh20
+ *
+ */
+
+
+#ifndef __RF24_CONFIG_H__
+#define __RF24_CONFIG_H__
+
+/*** USER DEFINES: ***/
+//#define FAILURE_HANDLING
+//#define SERIAL_DEBUG
+//#define MINIMAL
+/**********************/
+#define rf24_max(a,b) (a>b?a:b)
+#define rf24_min(a,b) (a<b?a:b)
+
+
+#include <mbed.h>
+
+// RF modules support 10 Mhz SPI bus speed
+const uint32_t RF_SPI_SPEED = 10000000;
+
+#define HIGH 1
+#define LOW 0
+
+//#include <stdint.h>
+//#include <stdio.h>
+//#include <string.h>
+
+#define _BV(x) (1<<(x))
+#define _SPI SPI
+
+#ifdef SERIAL_DEBUG
+#define IF_SERIAL_DEBUG(x) ({x;})
+#else
+#define IF_SERIAL_DEBUG(x)
+#endif
+
+//#define printf_P printf
+#define printf_P
+//#define _BV(bit) (1<<(bit))
+#define pgm_read_byte(addr) (*(const unsigned char *)(addr))
+
+typedef uint16_t prog_uint16_t;
+#define PSTR(x) (x)
+ #define sprintf(...) os_sprintf( __VA_ARGS__ )
+ //#define printf_P printf
+ #define printf_P
+ #define strlen_P strlen
+ #define PROGMEM
+ #define pgm_read_byte(addr) (*(const unsigned char *)(addr))
+ #define pgm_read_word(p) (*(p))
+ #define PRIPSTR "%s"
+
+#endif // __RF24_CONFIG_H__
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Dec 03 08:21:37 2022 +0000
@@ -0,0 +1,210 @@
+#include "mbed.h"
+#include "nRF24L01.h"
+#include "RF24.h"
+#include "RF24_config.h"
+
+Serial pc(PB_6, PB_7); //D5, D4 //PB_6, PB_7
+I2C i2c(PA_10, PA_9); //sda, scl PA_10, PA_9 D0, D1
+//(PinName mosi, PinName miso, PinName sck, PinName _cepin, PinName _csnpin)
+RF24 NRF24L01(PB_5, PB_4, PB_3, PA_12, PA_11);
+//RF24 NRF24L01(D11, D12, D13, D2, D10);
+
+AnalogIn JOYPIN1(PA_0); //A0
+AnalogIn JOYPIN2(PA_1); //A1
+AnalogIn JOYPIN3(PA_3); //A2
+AnalogIn JOYPIN4(PA_4); //A3
+
+AnalogIn POT1(PA_7); //A6
+AnalogIn POT2(PA_6); //A5
+AnalogIn POT3(PA_5); //A4
+
+DigitalIn BUTTON1(PA_2); //A7
+DigitalIn BUTTON2(PA_8); //D9
+
+DigitalOut MCU_LED(PB_0); //D3
+DigitalOut MCU_LED2(PB_1); //D6
+
+//MPU
+float mpu_temp_read;
+int32_t t_fine;
+int16_t gyro_raw[3], acc_raw[3], mag_raw[3];
+float gyro_offset[3], acc_offset[3];
+float mag_factory[3];
+int16_t angle[2];
+
+//magnetometer
+float x_offset = -1320.5, y_offset = 0, z_offset = -633.25;
+//float x_offset = -1320.5, y_offset = 1301.8, z_offset = -633.25;
+float x_scale = 0.9819, y_scale = 0.9957, z_scale = 1.0233;
+
+//RF
+const uint64_t pipe = 0x1212121212LL;
+float PITCH2 = 0, ROLL2 = 0, YAW2 = 0, THROTTLE2 = 0;
+int16_t PITCH = 0, ROLL = 0, YAW = 0, THROTTLE = 0;
+int8_t recv[30];
+int8_t trans[30];
+int8_t ackMessage[30];
+int16_t ackMessage2[30];
+uint32_t ackMessage3;
+int32_t ackMessage4[4];
+int8_t ackMessage5[3];
+
+//Timer Loop
+Timer timer1;
+
+int8_t TEMP_BUTTON1, TEMP_BUTTON2;
+int8_t temp_led = 1, temp_led2 = -1;
+int loop_count = 0, loop_count2 = 0, loop_count3 = 0, loop_count4 = 0, loop_count5 = 0;
+int loop_count4_max = 50;
+float OFFSET1, OFFSET2, OFFSET3;
+
+int8_t current_mode = 0;
+
+int8_t toggle_mode = 1;
+
+//rf ack
+int8_t ack_count = 0;
+uint8_t cnt = 0;
+
+int32_t temp_time;
+uint8_t temp_time2;
+
+//-----------------------------------------------------------------------------------------
+
+int16_t constrain_int16(int16_t x, int16_t min, int16_t max)
+{
+ if (x > max) x = max;
+ else if (x < min) x = min;
+
+ return x;
+}
+
+int32_t constrain_int32(int32_t x, int32_t min, int32_t max)
+{
+ if (x > max) x = max;
+ else if (x < min) x = min;
+
+ return x;
+}
+
+float constrain_float(float x, float min, float max)
+{
+ if (x > max) x = max;
+ else if (x < min) x = min;
+
+ return x;
+}
+
+//------------------------------------------------------------------------------------------------
+int main() {
+
+ //disableDebugPorts();
+ //pc.baud(230400); //115200
+ //i2c.frequency(400000);
+
+ //RF
+ NRF24L01.begin();
+ NRF24L01.setDataRate(RF24_2MBPS); //RF24_2MBPS
+ NRF24L01.setChannel(22);
+ NRF24L01.setPayloadSize(28); //28
+ NRF24L01.setAddressWidth(5);
+ NRF24L01.setRetries(2,4); //1,3 2,8
+
+ NRF24L01.enableAckPayload();
+ NRF24L01.openWritingPipe(pipe);
+ pc.printf("start\n\r");
+ int counta=0;
+ timer1.start();
+
+//------------------------------------------------------------------------------------------------
+ while(1) {
+
+ loop_count = loop_count + 1;
+ loop_count2 = loop_count2 + 1;
+ loop_count4 = loop_count4 + 1;
+
+ TEMP_BUTTON1 = (int8_t)BUTTON1;
+ TEMP_BUTTON2 = (int8_t)BUTTON2;
+
+ THROTTLE2 = JOYPIN1.read(); //left side vertical
+ PITCH2 = JOYPIN3.read() - 0.5f; //65536 //up positive
+ ROLL2 = JOYPIN4.read() - 0.5f; //right positive
+ YAW2 = JOYPIN2.read() - 0.5f; // right positive
+
+ OFFSET1 = POT1.read() - 0.5f; //left //reduce value counter-clockwise
+ OFFSET2 = POT2.read() - 0.5f; //middle
+ OFFSET3 = POT3.read() - 0.5f; //right
+ //pc.printf("%f, %f, %f\n\r", OFFSET1, OFFSET2, OFFSET3);
+
+ THROTTLE = (int16_t)(THROTTLE2 * 1024 * 1.15f);
+ THROTTLE = constrain_int16(THROTTLE, 0, 1500);
+
+ PITCH = -(int16_t)((PITCH2 * 1024 / 2 - OFFSET2 * 1024 / 4)); //-
+ ROLL = -(int16_t)((ROLL2 * 1024 / 2 - OFFSET1 * 1024 / 4)); //-
+ YAW = (int16_t)((- YAW2 * 1024 / 6 + OFFSET3 * 1024 / 2));
+
+ if (loop_count >= 4){
+
+ trans[0] = ((char *)&ROLL)[0];
+ trans[1] = ((char *)&ROLL)[1];
+ trans[2] = ((char *)&PITCH)[0]; //0;//
+ trans[3] = ((char *)&PITCH)[1];
+ trans[4] = ((char *)&YAW)[0];
+ trans[5] = ((char *)&YAW)[1];
+ trans[6] = ((char *)&THROTTLE)[0];
+ trans[7] = ((char *)&THROTTLE)[1];
+ trans[8] = (char)BUTTON1;
+ trans[9] = (char)BUTTON2;
+ printf("transmit\t%d",counta);
+ counta++;
+ NRF24L01.powerUp();
+ NRF24L01.write(trans, 10);
+
+/*
+ if (NRF24L01.isAckPayloadAvailable()){
+ NRF24L01.read(ackMessage, 14); //28 23
+
+ ackMessage2[0] = *(int16_t*)(&ackMessage[0]);
+ ackMessage2[1] = *(int16_t*)(&ackMessage[2]);
+ ackMessage2[2] = *(int16_t*)(&ackMessage[4]);
+
+ ackMessage2[3] = *(int16_t*)(&ackMessage[6]);
+ ackMessage2[4] = *(int16_t*)(&ackMessage[8]);
+
+ ackMessage2[5] = *(int16_t*)(&ackMessage[10]);
+ ackMessage2[6] = *(int16_t*)(&ackMessage[12]);
+
+ temp_time2 = (uint8_t)(temp_time / 100); //1000
+
+ temp_time = 0;
+
+ }
+*/
+
+ loop_count = 0;
+ }
+
+ if (loop_count4 >= loop_count4_max){
+
+ if (temp_led == 1) {
+ MCU_LED = 1;
+ //MCU_LED2 = 0;
+ }
+ if (temp_led == -1) {
+ MCU_LED = 0;
+ //MCU_LED2 = 1;
+ }
+ temp_led = -1 * temp_led;
+ loop_count4 = 0;
+ }
+
+ while (timer1.read_us() < 2500); //400 Hz
+
+ temp_time = temp_time + timer1.read_us();
+
+ timer1.reset();
+
+ }
+
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Dec 03 08:21:37 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/a330f0fddbec \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed_config.h Sat Dec 03 08:21:37 2022 +0000 @@ -0,0 +1,45 @@ +/* + * mbed SDK + * Copyright (c) 2017 ARM Limited + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +// Automatically generated configuration file. +// DO NOT EDIT, content will be overwritten. + +#ifndef __MBED_CONFIG_DATA__ +#define __MBED_CONFIG_DATA__ + +// Configuration parameters +#define CLOCK_SOURCE USE_PLL_MSI // set by target:NUCLEO_L432KC +#define LPTICKER_DELAY_TICKS 0 // set by target:NUCLEO_L432KC +#define MBED_CONF_PLATFORM_DEFAULT_SERIAL_BAUD_RATE 9600 // set by library:platform +#define MBED_CONF_PLATFORM_STDIO_BAUD_RATE 9600 // set by library:platform +#define MBED_CONF_PLATFORM_STDIO_CONVERT_NEWLINES 0 // set by library:platform +#define MBED_CONF_PLATFORM_STDIO_FLUSH_AT_EXIT 1 // set by library:platform +#define MBED_CONF_TARGET_BOOT_STACK_SIZE 0x400 // set by target:MCU_STM32_BAREMETAL +#define MBED_CONF_TARGET_CONSOLE_UART 1 // set by target:Target +#define MBED_CONF_TARGET_DEEP_SLEEP_LATENCY 4 // set by target:MCU_STM32 +#define MBED_CONF_TARGET_DEFAULT_ADC_VREF NAN // set by target:Target +#define MBED_CONF_TARGET_INIT_US_TICKER_AT_BOOT 1 // set by target:MCU_STM32 +#define MBED_CONF_TARGET_LPTICKER_LPTIM 1 // set by target:NUCLEO_L432KC +#define MBED_CONF_TARGET_LPTICKER_LPTIM_CLOCK 1 // set by target:MCU_STM32 +#define MBED_CONF_TARGET_LPUART_CLOCK_SOURCE USE_LPUART_CLK_LSE|USE_LPUART_CLK_PCLK1 // set by target:MCU_STM32 +#define MBED_CONF_TARGET_LSE_AVAILABLE 1 // set by target:MCU_STM32 +#define MBED_CONF_TARGET_MPU_ROM_END 0x0fffffff // set by target:Target +#define MBED_CONF_TARGET_TICKLESS_FROM_US_TICKER 0 // set by target:Target +#define MBED_CONF_TARGET_XIP_ENABLE 0 // set by target:Target + +#endif +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nRF24L01.h Sat Dec 03 08:21:37 2022 +0000 @@ -0,0 +1,137 @@ +/* + Copyright (c) 2007 Stefan Engelke <mbox@stefanengelke.de> + Portions Copyright (C) 2011 Greg Copeland + + Permission is hereby granted, free of charge, to any person + obtaining a copy of this software and associated documentation + files (the "Software"), to deal in the Software without + restriction, including without limitation the rights to use, copy, + modify, merge, publish, distribute, sublicense, and/or sell copies + of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be + included in all copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT + HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER + DEALINGS IN THE SOFTWARE. +*/ + +/* + * Mbed support added by Akash Vibhute <akash.roboticist@gmail.com> + * Porting completed on Nov/05/2015 + * + * Updated 1: Synced with TMRh20's RF24 library on Nov/04/2015 from https://github.com/TMRh20 + * Updated 2: Synced with TMRh20's RF24 library on Apr/18/2015 from https://github.com/TMRh20 + * + */ + +/* Memory Map */ +#define NRF_CONFIG 0x00 +#define EN_AA 0x01 +#define EN_RXADDR 0x02 +#define SETUP_AW 0x03 +#define SETUP_RETR 0x04 +#define RF_CH 0x05 +#define RF_SETUP 0x06 +#define NRF_STATUS 0x07 +#define OBSERVE_TX 0x08 +#define CD 0x09 +#define RX_ADDR_P0 0x0A +#define RX_ADDR_P1 0x0B +#define RX_ADDR_P2 0x0C +#define RX_ADDR_P3 0x0D +#define RX_ADDR_P4 0x0E +#define RX_ADDR_P5 0x0F +#define TX_ADDR 0x10 +#define RX_PW_P0 0x11 +#define RX_PW_P1 0x12 +#define RX_PW_P2 0x13 +#define RX_PW_P3 0x14 +#define RX_PW_P4 0x15 +#define RX_PW_P5 0x16 +#define FIFO_STATUS 0x17 +#define DYNPD 0x1C +#define FEATURE 0x1D + +/* Bit Mnemonics */ +#define MASK_RX_DR 6 +#define MASK_TX_DS 5 +#define MASK_MAX_RT 4 +#define EN_CRC 3 +#define CRCO 2 +#define PWR_UP 1 +#define PRIM_RX 0 +#define ENAA_P5 5 +#define ENAA_P4 4 +#define ENAA_P3 3 +#define ENAA_P2 2 +#define ENAA_P1 1 +#define ENAA_P0 0 +#define ERX_P5 5 +#define ERX_P4 4 +#define ERX_P3 3 +#define ERX_P2 2 +#define ERX_P1 1 +#define ERX_P0 0 +#define AW 0 +#define ARD 4 +#define ARC 0 +#define PLL_LOCK 4 +#define RF_DR 3 +#define RF_PWR 6 +#define RX_DR 6 +#define TX_DS 5 +#define MAX_RT 4 +#define RX_P_NO 1 +#define TX_FULL 0 +#define PLOS_CNT 4 +#define ARC_CNT 0 +#define TX_REUSE 6 +#define FIFO_FULL 5 +#define TX_EMPTY 4 +#define RX_FULL 1 +#define RX_EMPTY 0 +#define DPL_P5 5 +#define DPL_P4 4 +#define DPL_P3 3 +#define DPL_P2 2 +#define DPL_P1 1 +#define DPL_P0 0 +#define EN_DPL 2 +#define EN_ACK_PAY 1 +#define EN_DYN_ACK 0 + +/* Instruction Mnemonics */ +#define R_REGISTER 0x00 +#define W_REGISTER 0x20 +#define REGISTER_MASK 0x1F +#define ACTIVATE 0x50 +#define R_RX_PL_WID 0x60 +#define R_RX_PAYLOAD 0x61 +#define W_TX_PAYLOAD 0xA0 +#define W_ACK_PAYLOAD 0xA8 +#define FLUSH_TX 0xE1 +#define FLUSH_RX 0xE2 +#define REUSE_TX_PL 0xE3 +#define NOP 0xFF + +/* Non-P omissions */ +#define LNA_HCURR 0 + +/* P model memory Map */ +#define RPD 0x09 +#define W_TX_PAYLOAD_NO_ACK 0xB0 + +/* P model bit Mnemonics */ +#define RF_DR_LOW 5 +#define RF_DR_HIGH 3 +#define RF_PWR_LOW 1 +#define RF_PWR_HIGH 2 +