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Shuto Naruse / Mbed 2 deprecated Eurobot2012_Secondary

Eurobot2012_Secondary

Fork of Eurobot_2012_Secondary by Shuto Naruse

Kalman/Sonar/RF12B/RF12B.cpp@0:fbfafa6bf5f9, 2012-04-20 (annotated)

Committer:: narshu
Date:: Fri Apr 20 21:32:24 2012 +0000
Revision:: 0:fbfafa6bf5f9

Who changed what in which revision?

User	Revision	Line number	New contents of line
narshu	0:fbfafa6bf5f9	1	#include "RF12B.h"
narshu	0:fbfafa6bf5f9	2
narshu	0:fbfafa6bf5f9	3	#include "RF_defs.h"
narshu	0:fbfafa6bf5f9	4	#include <algorithm>
narshu	0:fbfafa6bf5f9	5
narshu	0:fbfafa6bf5f9	6	//#include "globals.h"
narshu	0:fbfafa6bf5f9	7
narshu	0:fbfafa6bf5f9	8	//DigitalOut DBG2(LED2);
narshu	0:fbfafa6bf5f9	9	//DigitalOut DBG3(LED3);
narshu	0:fbfafa6bf5f9	10	//DigitalOut DBG4(LED4);
narshu	0:fbfafa6bf5f9	11
narshu	0:fbfafa6bf5f9	12	RF12B::RF12B(PinName _SDI,
narshu	0:fbfafa6bf5f9	13	PinName _SDO,
narshu	0:fbfafa6bf5f9	14	PinName _SCK,
narshu	0:fbfafa6bf5f9	15	PinName _NCS,
narshu	0:fbfafa6bf5f9	16	PinName _NIRQ):spi(_SDI, _SDO, _SCK),
narshu	0:fbfafa6bf5f9	17	NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ){// rfled(LED3) {
narshu	0:fbfafa6bf5f9	18
narshu	0:fbfafa6bf5f9	19	/* SPI frequency, word lenght, polarity and phase */
narshu	0:fbfafa6bf5f9	20	spi.format(16,0);
narshu	0:fbfafa6bf5f9	21	spi.frequency(2000000);
narshu	0:fbfafa6bf5f9	22
narshu	0:fbfafa6bf5f9	23	/* Set ~CS high */
narshu	0:fbfafa6bf5f9	24	NCS = 1;
narshu	0:fbfafa6bf5f9	25
narshu	0:fbfafa6bf5f9	26	/* Initialise RF Module */
narshu	0:fbfafa6bf5f9	27	init();
narshu	0:fbfafa6bf5f9	28
narshu	0:fbfafa6bf5f9	29	/* Setup interrupt to happen on falling edge of NIRQ */
narshu	0:fbfafa6bf5f9	30	NIRQ.fall(this, &RF12B::rxISR);
narshu	0:fbfafa6bf5f9	31	}
narshu	0:fbfafa6bf5f9	32
narshu	0:fbfafa6bf5f9	33	/* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
narshu	0:fbfafa6bf5f9	34	unsigned int RF12B::available() {
narshu	0:fbfafa6bf5f9	35	return fifo.size();
narshu	0:fbfafa6bf5f9	36	}
narshu	0:fbfafa6bf5f9	37
narshu	0:fbfafa6bf5f9	38	/* Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets*/
narshu	0:fbfafa6bf5f9	39	bool RF12B::read(unsigned char* data, unsigned int size) {
narshu	0:fbfafa6bf5f9	40	if (fifo.size() == 0) {
narshu	0:fbfafa6bf5f9	41	return false;
narshu	0:fbfafa6bf5f9	42	} else {
narshu	0:fbfafa6bf5f9	43	unsigned int i = 0;
narshu	0:fbfafa6bf5f9	44	while (fifo.size() > 0 && i < size) {
narshu	0:fbfafa6bf5f9	45	data[i++] = fifo.front();
narshu	0:fbfafa6bf5f9	46	fifo.pop();
narshu	0:fbfafa6bf5f9	47	}
narshu	0:fbfafa6bf5f9	48	return true;
narshu	0:fbfafa6bf5f9	49	}
narshu	0:fbfafa6bf5f9	50	}
narshu	0:fbfafa6bf5f9	51
narshu	0:fbfafa6bf5f9	52	/* Reads a byte of data from the receive buffer */
narshu	0:fbfafa6bf5f9	53	unsigned char RF12B::read() {
narshu	0:fbfafa6bf5f9	54	if (available()) {
narshu	0:fbfafa6bf5f9	55	unsigned char data = fifo.front();
narshu	0:fbfafa6bf5f9	56	fifo.pop();
narshu	0:fbfafa6bf5f9	57	return data;
narshu	0:fbfafa6bf5f9	58	} else {
narshu	0:fbfafa6bf5f9	59	return 0xFF; // Error val although could also be data...
narshu	0:fbfafa6bf5f9	60	}
narshu	0:fbfafa6bf5f9	61	}
narshu	0:fbfafa6bf5f9	62
narshu	0:fbfafa6bf5f9	63	/* Sends a packet of data to the RF module for transmission TODO: Make asych*/
narshu	0:fbfafa6bf5f9	64	void RF12B::write(unsigned char *data, unsigned char length) {
narshu	0:fbfafa6bf5f9	65	unsigned char crc = 0;
narshu	0:fbfafa6bf5f9	66
narshu	0:fbfafa6bf5f9	67	/* Transmitter mode */
narshu	0:fbfafa6bf5f9	68	changeMode(TX);
narshu	0:fbfafa6bf5f9	69
narshu	0:fbfafa6bf5f9	70	writeCmd(0x0000);
narshu	0:fbfafa6bf5f9	71	send(0xAA); // PREAMBLE
narshu	0:fbfafa6bf5f9	72	send(0xAA);
narshu	0:fbfafa6bf5f9	73	send(0xAA);
narshu	0:fbfafa6bf5f9	74	send(0x2D); // SYNC
narshu	0:fbfafa6bf5f9	75	send(0xD4);
narshu	0:fbfafa6bf5f9	76	/* Packet Length */
narshu	0:fbfafa6bf5f9	77	send(length);
narshu	0:fbfafa6bf5f9	78	crc = crc8(crc, length);
narshu	0:fbfafa6bf5f9	79	send(crc);
narshu	0:fbfafa6bf5f9	80	crc = crc8(crc, crc);
narshu	0:fbfafa6bf5f9	81	/* Packet Data */
narshu	0:fbfafa6bf5f9	82	for (unsigned char i=0; i<length; i++) {
narshu	0:fbfafa6bf5f9	83	send(data[i]);
narshu	0:fbfafa6bf5f9	84	crc = crc8(crc, data[i]);
narshu	0:fbfafa6bf5f9	85	}
narshu	0:fbfafa6bf5f9	86	send(crc);
narshu	0:fbfafa6bf5f9	87	send(0xAA); // DUMMY BYTES
narshu	0:fbfafa6bf5f9	88	send(0xAA);
narshu	0:fbfafa6bf5f9	89	send(0xAA);
narshu	0:fbfafa6bf5f9	90
narshu	0:fbfafa6bf5f9	91	/* Back to receiver mode */
narshu	0:fbfafa6bf5f9	92	changeMode(RX);
narshu	0:fbfafa6bf5f9	93	status();
narshu	0:fbfafa6bf5f9	94
narshu	0:fbfafa6bf5f9	95
narshu	0:fbfafa6bf5f9	96	}
narshu	0:fbfafa6bf5f9	97
narshu	0:fbfafa6bf5f9	98	/* Transmit a 1-byte data packet */
narshu	0:fbfafa6bf5f9	99	void RF12B::write(unsigned char data) {
narshu	0:fbfafa6bf5f9	100	write(&data, 1);
narshu	0:fbfafa6bf5f9	101	}
narshu	0:fbfafa6bf5f9	102
narshu	0:fbfafa6bf5f9	103	void RF12B::write(queue<char> &data, int length) {
narshu	0:fbfafa6bf5f9	104	char crc = 0;
narshu	0:fbfafa6bf5f9	105	char length_byte = 0;
narshu	0:fbfafa6bf5f9	106
narshu	0:fbfafa6bf5f9	107	/* -1 means try to transmit everything in the queue */
narshu	0:fbfafa6bf5f9	108	if(length == -1) {
narshu	0:fbfafa6bf5f9	109	length = data.size();
narshu	0:fbfafa6bf5f9	110	}
narshu	0:fbfafa6bf5f9	111
narshu	0:fbfafa6bf5f9	112	/* max length of packet is 255 */
narshu	0:fbfafa6bf5f9	113	length_byte = min(length, 255);
narshu	0:fbfafa6bf5f9	114
narshu	0:fbfafa6bf5f9	115	/* Transmitter mode */
narshu	0:fbfafa6bf5f9	116	changeMode(TX);
narshu	0:fbfafa6bf5f9	117
narshu	0:fbfafa6bf5f9	118	writeCmd(0x0000);
narshu	0:fbfafa6bf5f9	119	send(0xAA); // PREAMBLE
narshu	0:fbfafa6bf5f9	120	send(0xAA);
narshu	0:fbfafa6bf5f9	121	send(0xAA);
narshu	0:fbfafa6bf5f9	122	send(0x2D); // SYNC
narshu	0:fbfafa6bf5f9	123	send(0xD4);
narshu	0:fbfafa6bf5f9	124	/* Packet Length */
narshu	0:fbfafa6bf5f9	125	send(length_byte);
narshu	0:fbfafa6bf5f9	126	crc = crc8(crc, length_byte);
narshu	0:fbfafa6bf5f9	127	send(crc);
narshu	0:fbfafa6bf5f9	128	crc = crc8(crc, crc);
narshu	0:fbfafa6bf5f9	129	/* Packet Data */
narshu	0:fbfafa6bf5f9	130	for (char i=0; i<length_byte; i++) {
narshu	0:fbfafa6bf5f9	131	send(data.front());
narshu	0:fbfafa6bf5f9	132	crc = crc8(crc, data.front());
narshu	0:fbfafa6bf5f9	133	data.pop();
narshu	0:fbfafa6bf5f9	134	}
narshu	0:fbfafa6bf5f9	135	send(crc);
narshu	0:fbfafa6bf5f9	136	send(0xAA); // DUMMY BYTES
narshu	0:fbfafa6bf5f9	137	send(0xAA);
narshu	0:fbfafa6bf5f9	138	send(0xAA);
narshu	0:fbfafa6bf5f9	139
narshu	0:fbfafa6bf5f9	140	/* Back to receiver mode */
narshu	0:fbfafa6bf5f9	141	changeMode(RX);
narshu	0:fbfafa6bf5f9	142	status();
narshu	0:fbfafa6bf5f9	143	}
narshu	0:fbfafa6bf5f9	144
narshu	0:fbfafa6bf5f9	145	/**********************************************************************
narshu	0:fbfafa6bf5f9	146	* PRIVATE FUNCTIONS
narshu	0:fbfafa6bf5f9	147	*********************************************************************/
narshu	0:fbfafa6bf5f9	148
narshu	0:fbfafa6bf5f9	149	/* Initialises the RF12B module */
narshu	0:fbfafa6bf5f9	150	void RF12B::init() {
narshu	0:fbfafa6bf5f9	151	/* writeCmd(0x80E7); //EL,EF,868band,12.0pF
narshu	0:fbfafa6bf5f9	152	changeMode(RX);
narshu	0:fbfafa6bf5f9	153	writeCmd(0xA640); //frequency select
narshu	0:fbfafa6bf5f9	154	writeCmd(0xC647); //4.8kbps
narshu	0:fbfafa6bf5f9	155	writeCmd(0x94A0); //VDI,FAST,134kHz,0dBm,-103dBm
narshu	0:fbfafa6bf5f9	156	writeCmd(0xC2AC); //AL,!ml,DIG,DQD4
narshu	0:fbfafa6bf5f9	157	writeCmd(0xCA81); //FIFO8,SYNC,!ff,DR
narshu	0:fbfafa6bf5f9	158	writeCmd(0xCED4); //SYNC=2DD4
narshu	0:fbfafa6bf5f9	159	writeCmd(0xC483); //@PWR,NO RSTRIC,!st,!fi,OE,EN
narshu	0:fbfafa6bf5f9	160	writeCmd(0x9850); //!mp,90kHz,MAX OUT
narshu	0:fbfafa6bf5f9	161	writeCmd(0xCC17); //OB1, COB0, LPX, Iddy, CDDIT�CBW0
narshu	0:fbfafa6bf5f9	162	writeCmd(0xE000); //NOT USED
narshu	0:fbfafa6bf5f9	163	writeCmd(0xC800); //NOT USED
narshu	0:fbfafa6bf5f9	164	writeCmd(0xC040); //1.66MHz,2.2V */
narshu	0:fbfafa6bf5f9	165
narshu	0:fbfafa6bf5f9	166	writeCmd(
narshu	0:fbfafa6bf5f9	167	RFM_CONFIG_EL \|
narshu	0:fbfafa6bf5f9	168	RFM_CONFIG_EF \|
narshu	0:fbfafa6bf5f9	169	RFM_CONFIG_BAND_433 //\|
narshu	0:fbfafa6bf5f9	170	//RFM_CONFIG_X_11_0pf // meh, using default
narshu	0:fbfafa6bf5f9	171	);
narshu	0:fbfafa6bf5f9	172
narshu	0:fbfafa6bf5f9	173	// 2. Power Management Command
narshu	0:fbfafa6bf5f9	174	// leave everything switched off for now
narshu	0:fbfafa6bf5f9	175	/*
narshu	0:fbfafa6bf5f9	176	writeCmd(
narshu	0:fbfafa6bf5f9	177	RFM_POWER_MANAGEMENT // switch all off
narshu	0:fbfafa6bf5f9	178	);
narshu	0:fbfafa6bf5f9	179	*/
narshu	0:fbfafa6bf5f9	180
narshu	0:fbfafa6bf5f9	181	// 3. Frequency Setting Command
narshu	0:fbfafa6bf5f9	182	writeCmd(
narshu	0:fbfafa6bf5f9	183	RFM_FREQUENCY \|
narshu	0:fbfafa6bf5f9	184	RFM_FREQ_433Band(435.7) //I totally made this value up... if someone knows where the sweetspots are in this band, tell me!
narshu	0:fbfafa6bf5f9	185	);
narshu	0:fbfafa6bf5f9	186
narshu	0:fbfafa6bf5f9	187
narshu	0:fbfafa6bf5f9	188	// 4. Data Rate Command
narshu	0:fbfafa6bf5f9	189	writeCmd(RFM_DATA_RATE_9600);
narshu	0:fbfafa6bf5f9	190
narshu	0:fbfafa6bf5f9	191
narshu	0:fbfafa6bf5f9	192	// 5. Receiver Control Command
narshu	0:fbfafa6bf5f9	193	writeCmd(
narshu	0:fbfafa6bf5f9	194	RFM_RX_CONTROL_P20_VDI \|
narshu	0:fbfafa6bf5f9	195	RFM_RX_CONTROL_VDI_FAST \|
narshu	0:fbfafa6bf5f9	196	//RFM_RX_CONTROL_BW(RFM_BAUD_RATE) \|
narshu	0:fbfafa6bf5f9	197	RFM_RX_CONTROL_BW_134 \| // CHANGE THIS TO 67 TO IMPROVE RANGE! (though the bitrate must then be below 8kbaud, and fsk modulation changed)
narshu	0:fbfafa6bf5f9	198	RFM_RX_CONTROL_GAIN_0 \|
narshu	0:fbfafa6bf5f9	199	RFM_RX_CONTROL_RSSI_103 // Might need adjustment. Datasheet says around 10^-5 bit error rate at this level and baudrate.
narshu	0:fbfafa6bf5f9	200	);
narshu	0:fbfafa6bf5f9	201
narshu	0:fbfafa6bf5f9	202	// 6. Data Filter Command
narshu	0:fbfafa6bf5f9	203	writeCmd(
narshu	0:fbfafa6bf5f9	204	RFM_DATA_FILTER_AL \|
narshu	0:fbfafa6bf5f9	205	RFM_DATA_FILTER_ML \|
narshu	0:fbfafa6bf5f9	206	RFM_DATA_FILTER_DIG //\|
narshu	0:fbfafa6bf5f9	207	//RFM_DATA_FILTER_DQD(4)
narshu	0:fbfafa6bf5f9	208	);
narshu	0:fbfafa6bf5f9	209
narshu	0:fbfafa6bf5f9	210	// 7. FIFO and Reset Mode Command
narshu	0:fbfafa6bf5f9	211	writeCmd(
narshu	0:fbfafa6bf5f9	212	RFM_FIFO_IT(8) \|
narshu	0:fbfafa6bf5f9	213	RFM_FIFO_DR \|
narshu	0:fbfafa6bf5f9	214	0x8 //turn on 16bit sync word
narshu	0:fbfafa6bf5f9	215	);
narshu	0:fbfafa6bf5f9	216
narshu	0:fbfafa6bf5f9	217	// 8. FIFO Syncword
narshu	0:fbfafa6bf5f9	218	// Leave as default: 0xD4
narshu	0:fbfafa6bf5f9	219
narshu	0:fbfafa6bf5f9	220	// 9. Receiver FIFO Read
narshu	0:fbfafa6bf5f9	221	// when the interupt goes high, (and if we can assume that it was a fifo fill interrupt) we can read a byte using:
narshu	0:fbfafa6bf5f9	222	// result = RFM_READ_FIFO();
narshu	0:fbfafa6bf5f9	223
narshu	0:fbfafa6bf5f9	224	// 10. AFC Command
narshu	0:fbfafa6bf5f9	225	writeCmd(
narshu	0:fbfafa6bf5f9	226	//RFM_AFC_AUTO_VDI \| //Note this might be changed to improve range. Refer to datasheet.
narshu	0:fbfafa6bf5f9	227	RFM_AFC_AUTO_INDEPENDENT \|
narshu	0:fbfafa6bf5f9	228	RFM_AFC_RANGE_LIMIT_7_8 \|
narshu	0:fbfafa6bf5f9	229	RFM_AFC_EN \|
narshu	0:fbfafa6bf5f9	230	RFM_AFC_OE \|
narshu	0:fbfafa6bf5f9	231	RFM_AFC_FI
narshu	0:fbfafa6bf5f9	232	);
narshu	0:fbfafa6bf5f9	233
narshu	0:fbfafa6bf5f9	234	// 11. TX Configuration Control Command
narshu	0:fbfafa6bf5f9	235	writeCmd(
narshu	0:fbfafa6bf5f9	236	RFM_TX_CONTROL_MOD_60 \|
narshu	0:fbfafa6bf5f9	237	RFM_TX_CONTROL_POW_0
narshu	0:fbfafa6bf5f9	238	);
narshu	0:fbfafa6bf5f9	239
narshu	0:fbfafa6bf5f9	240
narshu	0:fbfafa6bf5f9	241	// 12. PLL Setting Command
narshu	0:fbfafa6bf5f9	242	writeCmd(
narshu	0:fbfafa6bf5f9	243	0xCC77 & ~0x01 // Setting the PLL bandwith, less noise, but max bitrate capped at 86.2
narshu	0:fbfafa6bf5f9	244	// I think this will slow down the pll's reaction time. Not sure, check with someone!
narshu	0:fbfafa6bf5f9	245	);
narshu	0:fbfafa6bf5f9	246
narshu	0:fbfafa6bf5f9	247	changeMode(RX);
narshu	0:fbfafa6bf5f9	248	resetRX();
narshu	0:fbfafa6bf5f9	249	status();
narshu	0:fbfafa6bf5f9	250	}
narshu	0:fbfafa6bf5f9	251
narshu	0:fbfafa6bf5f9	252	/* Write a command to the RF Module */
narshu	0:fbfafa6bf5f9	253	unsigned int RF12B::writeCmd(unsigned int cmd) {
narshu	0:fbfafa6bf5f9	254	NCS = 0;
narshu	0:fbfafa6bf5f9	255	unsigned int recv = spi.write(cmd);
narshu	0:fbfafa6bf5f9	256	NCS = 1;
narshu	0:fbfafa6bf5f9	257	return recv;
narshu	0:fbfafa6bf5f9	258	}
narshu	0:fbfafa6bf5f9	259
narshu	0:fbfafa6bf5f9	260	/* Sends a byte of data across RF */
narshu	0:fbfafa6bf5f9	261	void RF12B::send(unsigned char data) {
narshu	0:fbfafa6bf5f9	262	while (NIRQ);
narshu	0:fbfafa6bf5f9	263	writeCmd(0xB800 + data);
narshu	0:fbfafa6bf5f9	264	}
narshu	0:fbfafa6bf5f9	265
narshu	0:fbfafa6bf5f9	266	/* Change the mode of the RF module to Transmitting or Receiving */
narshu	0:fbfafa6bf5f9	267	void RF12B::changeMode(rfmode_t _mode) {
narshu	0:fbfafa6bf5f9	268	mode = _mode;
narshu	0:fbfafa6bf5f9	269	if (_mode == TX) {
narshu	0:fbfafa6bf5f9	270	writeCmd(0x8239); //!er,!ebb,ET,ES,EX,!eb,!ew,DC
narshu	0:fbfafa6bf5f9	271	} else { /* mode == RX */
narshu	0:fbfafa6bf5f9	272	writeCmd(0x8299); //er,!ebb,ET,ES,EX,!eb,!ew,DC
narshu	0:fbfafa6bf5f9	273	}
narshu	0:fbfafa6bf5f9	274	}
narshu	0:fbfafa6bf5f9	275
narshu	0:fbfafa6bf5f9	276	/* Interrupt routine for data reception */
narshu	0:fbfafa6bf5f9	277	void RF12B::rxISR() {
narshu	0:fbfafa6bf5f9	278
narshu	0:fbfafa6bf5f9	279	//static int cnt = 0;
narshu	0:fbfafa6bf5f9	280	//printf("%d hits\r\n", cnt);
narshu	0:fbfafa6bf5f9	281	//cnt++;
narshu	0:fbfafa6bf5f9	282
narshu	0:fbfafa6bf5f9	283	//DBG2 = !(cnt%3);
narshu	0:fbfafa6bf5f9	284	//DBG3 = !((cnt+1)%3);
narshu	0:fbfafa6bf5f9	285	//DBG4 = !((cnt+2)%3);
narshu	0:fbfafa6bf5f9	286
narshu	0:fbfafa6bf5f9	287	unsigned int data = 0;
narshu	0:fbfafa6bf5f9	288	static int i = -2;
narshu	0:fbfafa6bf5f9	289	static unsigned char packet_length = 0;
narshu	0:fbfafa6bf5f9	290	static unsigned char crc = 0;
narshu	0:fbfafa6bf5f9	291
narshu	0:fbfafa6bf5f9	292	//Loop while interrupt is asserted
narshu	0:fbfafa6bf5f9	293	while (!NIRQ_in && mode == RX) {
narshu	0:fbfafa6bf5f9	294
narshu	0:fbfafa6bf5f9	295	// Grab the packet's length byte
narshu	0:fbfafa6bf5f9	296	if (i == -2) {
narshu	0:fbfafa6bf5f9	297	data = writeCmd(0x0000);
narshu	0:fbfafa6bf5f9	298	if ( (data&0x8000) ) {
narshu	0:fbfafa6bf5f9	299	data = writeCmd(0xB000);
narshu	0:fbfafa6bf5f9	300	packet_length = (data&0x00FF);
narshu	0:fbfafa6bf5f9	301	crc = crc8(crc, packet_length);
narshu	0:fbfafa6bf5f9	302	i++;
narshu	0:fbfafa6bf5f9	303	}
narshu	0:fbfafa6bf5f9	304	}
narshu	0:fbfafa6bf5f9	305
narshu	0:fbfafa6bf5f9	306	//If we exhaust the interrupt, exit
narshu	0:fbfafa6bf5f9	307	if (NIRQ_in)
narshu	0:fbfafa6bf5f9	308	break;
narshu	0:fbfafa6bf5f9	309
narshu	0:fbfafa6bf5f9	310	// Check that packet length was correct
narshu	0:fbfafa6bf5f9	311	if (i == -1) {
narshu	0:fbfafa6bf5f9	312	data = writeCmd(0x0000);
narshu	0:fbfafa6bf5f9	313	if ( (data&0x8000) ) {
narshu	0:fbfafa6bf5f9	314	data = writeCmd(0xB000);
narshu	0:fbfafa6bf5f9	315	unsigned char crcofsize = (data&0x00FF);
narshu	0:fbfafa6bf5f9	316	if (crcofsize != crc) {
narshu	0:fbfafa6bf5f9	317	//It was wrong, start over
narshu	0:fbfafa6bf5f9	318	i = -2;
narshu	0:fbfafa6bf5f9	319	packet_length = 0;
narshu	0:fbfafa6bf5f9	320	crc = 0;
narshu	0:fbfafa6bf5f9	321	//temp = queue<unsigned char>();
narshu	0:fbfafa6bf5f9	322	resetRX();
narshu	0:fbfafa6bf5f9	323	} else {
narshu	0:fbfafa6bf5f9	324	crc = crc8(crc, crcofsize);
narshu	0:fbfafa6bf5f9	325	i++;
narshu	0:fbfafa6bf5f9	326	}
narshu	0:fbfafa6bf5f9	327	}
narshu	0:fbfafa6bf5f9	328	}
narshu	0:fbfafa6bf5f9	329
narshu	0:fbfafa6bf5f9	330	//If we exhaust the interrupt, exit
narshu	0:fbfafa6bf5f9	331	if (NIRQ_in)
narshu	0:fbfafa6bf5f9	332	break;
narshu	0:fbfafa6bf5f9	333
narshu	0:fbfafa6bf5f9	334	// Grab the packet's data
narshu	0:fbfafa6bf5f9	335	if (i >= 0 && i < packet_length) {
narshu	0:fbfafa6bf5f9	336	data = writeCmd(0x0000);
narshu	0:fbfafa6bf5f9	337	if ( (data&0x8000) ) {
narshu	0:fbfafa6bf5f9	338	data = writeCmd(0xB000);
narshu	0:fbfafa6bf5f9	339	//temp.push(data&0x00FF);
narshu	0:fbfafa6bf5f9	340	crc = crc8(crc, (unsigned char)(data&0x00FF));
narshu	0:fbfafa6bf5f9	341	i++;
narshu	0:fbfafa6bf5f9	342	}
narshu	0:fbfafa6bf5f9	343	}
narshu	0:fbfafa6bf5f9	344
narshu	0:fbfafa6bf5f9	345	//If we exhaust the interrupt, exit
narshu	0:fbfafa6bf5f9	346	if (NIRQ_in)
narshu	0:fbfafa6bf5f9	347	break;
narshu	0:fbfafa6bf5f9	348
narshu	0:fbfafa6bf5f9	349	if (i >= packet_length) {
narshu	0:fbfafa6bf5f9	350	data = writeCmd(0x0000);
narshu	0:fbfafa6bf5f9	351	if ( (data&0x8000) ) {
narshu	0:fbfafa6bf5f9	352	data = writeCmd(0xB000);
narshu	0:fbfafa6bf5f9	353	if ((unsigned char)(data & 0x00FF) == crc) {
narshu	0:fbfafa6bf5f9	354	//If the checksum is correct, add our data to the end of the output buffer
narshu	0:fbfafa6bf5f9	355	//while (!temp.empty()) {
narshu	0:fbfafa6bf5f9	356	// fifo.push(temp.front());
narshu	0:fbfafa6bf5f9	357	// temp.pop();
narshu	0:fbfafa6bf5f9	358	//}
narshu	0:fbfafa6bf5f9	359	}
narshu	0:fbfafa6bf5f9	360
narshu	0:fbfafa6bf5f9	361	// Tell RF Module we are finished, and clean up
narshu	0:fbfafa6bf5f9	362	i = -2;
narshu	0:fbfafa6bf5f9	363	packet_length = 0;
narshu	0:fbfafa6bf5f9	364	crc = 0;
narshu	0:fbfafa6bf5f9	365	//temp = queue<unsigned char>();
narshu	0:fbfafa6bf5f9	366	resetRX();
narshu	0:fbfafa6bf5f9	367	}
narshu	0:fbfafa6bf5f9	368	}
narshu	0:fbfafa6bf5f9	369	}
narshu	0:fbfafa6bf5f9	370	}
narshu	0:fbfafa6bf5f9	371
narshu	0:fbfafa6bf5f9	372	unsigned int RF12B::status() {
narshu	0:fbfafa6bf5f9	373	return writeCmd(0x0000);
narshu	0:fbfafa6bf5f9	374	}
narshu	0:fbfafa6bf5f9	375
narshu	0:fbfafa6bf5f9	376	/* Tell the RF Module this packet is received and wait for the next */
narshu	0:fbfafa6bf5f9	377	void RF12B::resetRX() {
narshu	0:fbfafa6bf5f9	378	writeCmd(0xCA81);
narshu	0:fbfafa6bf5f9	379	writeCmd(0xCA83);
narshu	0:fbfafa6bf5f9	380	};
narshu	0:fbfafa6bf5f9	381
narshu	0:fbfafa6bf5f9	382	/* Calculate CRC8 */
narshu	0:fbfafa6bf5f9	383	unsigned char RF12B::crc8(unsigned char crc, unsigned char data) {
narshu	0:fbfafa6bf5f9	384	crc = crc ^ data;
narshu	0:fbfafa6bf5f9	385	for (int i = 0; i < 8; i++) {
narshu	0:fbfafa6bf5f9	386	if (crc & 0x01) {
narshu	0:fbfafa6bf5f9	387	crc = (crc >> 1) ^ 0x8C;
narshu	0:fbfafa6bf5f9	388	} else {
narshu	0:fbfafa6bf5f9	389	crc >>= 1;
narshu	0:fbfafa6bf5f9	390	}
narshu	0:fbfafa6bf5f9	391	}
narshu	0:fbfafa6bf5f9	392	return crc;
narshu	0:fbfafa6bf5f9	393	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	17 Oct 2012
Imports:	2
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	0
Followers:	1

Kalman/Sonar/RF12B/RF12B.cpp@0:fbfafa6bf5f9, 2012-04-20 (annotated)

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