This is for our FYDP project. 2 MPU6050s are used
drivers/nRF24L01P/nRF24L01P.h
- Committer:
- majik
- Date:
- 2015-03-21
- Revision:
- 0:21019d94ad33
File content as of revision 0:21019d94ad33:
/** * @file nRF24L01P.h * * @author Owen Edwards * * @section LICENSE * * Copyright (c) 2010 Owen Edwards * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see <http://www.gnu.org/licenses/>. * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * @section DESCRIPTION * * nRF24L01+ Single Chip 2.4GHz Transceiver from Nordic Semiconductor. * * Datasheet: * * http://www.nordicsemi.no/files/Product/data_sheet/nRF24L01P_Product_Specification_1_0.pdf */ #ifndef __NRF24L01P_H__ #define __NRF24L01P_H__ /** * Includes */ #include "mbed.h" /** * Defines */ #define NRF24L01P_TX_PWR_ZERO_DB 0 #define NRF24L01P_TX_PWR_MINUS_6_DB -6 #define NRF24L01P_TX_PWR_MINUS_12_DB -12 #define NRF24L01P_TX_PWR_MINUS_18_DB -18 #define NRF24L01P_DATARATE_250_KBPS 250 #define NRF24L01P_DATARATE_1_MBPS 1000 #define NRF24L01P_DATARATE_2_MBPS 2000 #define NRF24L01P_CRC_NONE 0 #define NRF24L01P_CRC_8_BIT 8 #define NRF24L01P_CRC_16_BIT 16 #define NRF24L01P_MIN_RF_FREQUENCY 2400 #define NRF24L01P_MAX_RF_FREQUENCY 2525 #define NRF24L01P_PIPE_P0 0 #define NRF24L01P_PIPE_P1 1 #define NRF24L01P_PIPE_P2 2 #define NRF24L01P_PIPE_P3 3 #define NRF24L01P_PIPE_P4 4 #define NRF24L01P_PIPE_P5 5 /** * Default setup for the nRF24L01+, based on the Sparkfun "Nordic Serial Interface Board" * for evaluation (http://www.sparkfun.com/products/9019) */ #define DEFAULT_NRF24L01P_ADDRESS ((unsigned long long) 0xE7E7E7E7E7 ) #define DEFAULT_NRF24L01P_ADDRESS_WIDTH 5 #define DEFAULT_NRF24L01P_CRC NRF24L01P_CRC_8_BIT #define DEFAULT_NRF24L01P_RF_FREQUENCY (NRF24L01P_MIN_RF_FREQUENCY + 2) #define DEFAULT_NRF24L01P_DATARATE NRF24L01P_DATARATE_1_MBPS #define DEFAULT_NRF24L01P_TX_PWR NRF24L01P_TX_PWR_ZERO_DB #define DEFAULT_NRF24L01P_TRANSFER_SIZE 4 /** * nRF24L01+ Single Chip 2.4GHz Transceiver from Nordic Semiconductor. */ class nRF24L01P { public: /** * Constructor. * * @param mosi mbed pin to use for MOSI line of SPI interface. * @param miso mbed pin to use for MISO line of SPI interface. * @param sck mbed pin to use for SCK line of SPI interface. * @param csn mbed pin to use for not chip select line of SPI interface. * @param ce mbed pin to use for the chip enable line. * @param irq mbed pin to use for the interrupt request line. */ nRF24L01P(PinName mosi, PinName miso, PinName sck, PinName csn, PinName ce, PinName irq = NC); /** * Set the RF frequency. * * @param frequency the frequency of RF transmission in MHz (2400..2525). */ void setRfFrequency(int frequency = DEFAULT_NRF24L01P_RF_FREQUENCY); /** * Get the RF frequency. * * @return the frequency of RF transmission in MHz (2400..2525). */ int getRfFrequency(void); /** * Set the RF output power. * * @param power the RF output power in dBm (0, -6, -12 or -18). */ void setRfOutputPower(int power = DEFAULT_NRF24L01P_TX_PWR); /** * Get the RF output power. * * @return the RF output power in dBm (0, -6, -12 or -18). */ int getRfOutputPower(void); /** * Set the Air data rate. * * @param rate the air data rate in kbps (250, 1M or 2M). */ void setAirDataRate(int rate = DEFAULT_NRF24L01P_DATARATE); /** * Get the Air data rate. * * @return the air data rate in kbps (250, 1M or 2M). */ int getAirDataRate(void); /** * Set the CRC width. * * @param width the number of bits for the CRC (0, 8 or 16). */ void setCrcWidth(int width = DEFAULT_NRF24L01P_CRC); /** * Get the CRC width. * * @return the number of bits for the CRC (0, 8 or 16). */ int getCrcWidth(void); /** * Set the Receive address. * * @param address address associated with the particular pipe * @param width width of the address in bytes (3..5) * @param pipe pipe to associate the address with (0..5, default 0) * * Note that Pipes 0 & 1 have 3, 4 or 5 byte addresses, * while Pipes 2..5 only use the lowest byte (bits 7..0) of the * address provided here, and use 2, 3 or 4 bytes from Pipe 1's address. * The width parameter is ignored for Pipes 2..5. */ void setRxAddress(unsigned long long address = DEFAULT_NRF24L01P_ADDRESS, int width = DEFAULT_NRF24L01P_ADDRESS_WIDTH, int pipe = NRF24L01P_PIPE_P0); void setRxAddress(unsigned long msb_address, unsigned long lsb_address, int width, int pipe = NRF24L01P_PIPE_P0); /** * Set the Transmit address. * * @param address address for transmission * @param width width of the address in bytes (3..5) * * Note that the address width is shared with the Receive pipes, * so a change to that address width affect transmissions. */ void setTxAddress(unsigned long long address = DEFAULT_NRF24L01P_ADDRESS, int width = DEFAULT_NRF24L01P_ADDRESS_WIDTH); void setTxAddress(unsigned long msb_address, unsigned long lsb_address, int width); /** * Get the Receive address. * * @param pipe pipe to get the address from (0..5, default 0) * @return the address associated with the particular pipe */ unsigned long long getRxAddress(int pipe = NRF24L01P_PIPE_P0); /** * Get the Transmit address. * * @return address address for transmission */ unsigned long long getTxAddress(void); /** * Set the transfer size. * * @param size the size of the transfer, in bytes (1..32) * @param pipe pipe for the transfer (0..5, default 0) */ void setTransferSize(int size = DEFAULT_NRF24L01P_TRANSFER_SIZE, int pipe = NRF24L01P_PIPE_P0); /** * Get the transfer size. * * @return the size of the transfer, in bytes (1..32). */ int getTransferSize(int pipe = NRF24L01P_PIPE_P0); /** * Get the RPD (Received Power Detector) state. * * @return true if the received power exceeded -64dBm */ bool getRPD(void); /** * Put the nRF24L01+ into Receive mode */ void setReceiveMode(void); /** * Put the nRF24L01+ into Transmit mode */ void setTransmitMode(void); /** * Power up the nRF24L01+ into Standby mode */ void powerUp(void); /** * Power down the nRF24L01+ into Power Down mode */ void powerDown(void); /** * Enable the nRF24L01+ to Receive or Transmit (using the CE pin) */ void enable(void); /** * Disable the nRF24L01+ to Receive or Transmit (using the CE pin) */ void disable(void); /** * Transmit data * * @param pipe is ignored (included for consistency with file write routine) * @param data pointer to an array of bytes to write * @param count the number of bytes to send (1..32) * @return the number of bytes actually written, or -1 for an error */ int write(int pipe, char *data, int count); /** * Receive data * * @param pipe the receive pipe to get data from * @param data pointer to an array of bytes to store the received data * @param count the number of bytes to receive (1..32) * @return the number of bytes actually received, 0 if none are received, or -1 for an error */ int read(int pipe, char *data, int count); /** * Determine if there is data available to read * * @param pipe the receive pipe to check for data * @return true if the is data waiting in the given pipe */ bool readable(int pipe = NRF24L01P_PIPE_P0); /** * Disable all receive pipes * * Note: receive pipes are enabled when their address is set. */ void disableAllRxPipes(void); /** * Disable AutoAcknowledge function */ void disableAutoAcknowledge(void); /** * Enable AutoAcknowledge function * * @param pipe the receive pipe */ void enableAutoAcknowledge(int pipe = NRF24L01P_PIPE_P0); /** * Disable AutoRetransmit function */ void disableAutoRetransmit(void); /** * Enable AutoRetransmit function * * @param delay the delay between restransmits, in uS (250uS..4000uS) * @param count number of retransmits before generating an error (1..15) */ void enableAutoRetransmit(int delay, int count); private: /** * Get the contents of an addressable register. * * @param regAddress address of the register * @return the contents of the register */ int getRegister(int regAddress); /** * Set the contents of an addressable register. * * @param regAddress address of the register * @param regData data to write to the register */ void setRegister(int regAddress, int regData); /** * Get the contents of the status register. * * @return the contents of the status register */ int getStatusRegister(void); SPI spi_; DigitalOut nCS_; DigitalOut ce_; InterruptIn nIRQ_; int mode; }; #endif /* __NRF24L01P_H__ */