Shuto Naruse
/
Eurobot2012_Secondary
Eurobot2012_Secondary
Fork of Eurobot_2012_Secondary by
Diff: Kalman/Sonar/RF12B/RF12B.cpp
- Revision:
- 1:cc2a9eb0bd55
- Parent:
- 0:fbfafa6bf5f9
diff -r fbfafa6bf5f9 -r cc2a9eb0bd55 Kalman/Sonar/RF12B/RF12B.cpp --- a/Kalman/Sonar/RF12B/RF12B.cpp Fri Apr 20 21:32:24 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,393 +0,0 @@ -#include "RF12B.h" - -#include "RF_defs.h" -#include <algorithm> - -//#include "globals.h" - -//DigitalOut DBG2(LED2); -//DigitalOut DBG3(LED3); -//DigitalOut DBG4(LED4); - -RF12B::RF12B(PinName _SDI, - PinName _SDO, - PinName _SCK, - PinName _NCS, - PinName _NIRQ):spi(_SDI, _SDO, _SCK), - NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ){// rfled(LED3) { - - /* SPI frequency, word lenght, polarity and phase */ - spi.format(16,0); - spi.frequency(2000000); - - /* Set ~CS high */ - NCS = 1; - - /* Initialise RF Module */ - init(); - - /* Setup interrupt to happen on falling edge of NIRQ */ - NIRQ.fall(this, &RF12B::rxISR); -} - -/* Returns the packet length if data is available in the receive buffer, 0 otherwise*/ -unsigned int RF12B::available() { - return fifo.size(); -} - -/* Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets*/ -bool RF12B::read(unsigned char* data, unsigned int size) { - if (fifo.size() == 0) { - return false; - } else { - unsigned int i = 0; - while (fifo.size() > 0 && i < size) { - data[i++] = fifo.front(); - fifo.pop(); - } - return true; - } -} - -/* Reads a byte of data from the receive buffer */ -unsigned char RF12B::read() { - if (available()) { - unsigned char data = fifo.front(); - fifo.pop(); - return data; - } else { - return 0xFF; // Error val although could also be data... - } -} - -/* Sends a packet of data to the RF module for transmission TODO: Make asych*/ -void RF12B::write(unsigned char *data, unsigned char length) { - unsigned char crc = 0; - - /* Transmitter mode */ - changeMode(TX); - - writeCmd(0x0000); - send(0xAA); // PREAMBLE - send(0xAA); - send(0xAA); - send(0x2D); // SYNC - send(0xD4); - /* Packet Length */ - send(length); - crc = crc8(crc, length); - send(crc); - crc = crc8(crc, crc); - /* Packet Data */ - for (unsigned char i=0; i<length; i++) { - send(data[i]); - crc = crc8(crc, data[i]); - } - send(crc); - send(0xAA); // DUMMY BYTES - send(0xAA); - send(0xAA); - - /* Back to receiver mode */ - changeMode(RX); - status(); - - -} - -/* Transmit a 1-byte data packet */ -void RF12B::write(unsigned char data) { - write(&data, 1); -} - -void RF12B::write(queue<char> &data, int length) { - char crc = 0; - char length_byte = 0; - - /* -1 means try to transmit everything in the queue */ - if(length == -1) { - length = data.size(); - } - - /* max length of packet is 255 */ - length_byte = min(length, 255); - - /* Transmitter mode */ - changeMode(TX); - - writeCmd(0x0000); - send(0xAA); // PREAMBLE - send(0xAA); - send(0xAA); - send(0x2D); // SYNC - send(0xD4); - /* Packet Length */ - send(length_byte); - crc = crc8(crc, length_byte); - send(crc); - crc = crc8(crc, crc); - /* Packet Data */ - for (char i=0; i<length_byte; i++) { - send(data.front()); - crc = crc8(crc, data.front()); - data.pop(); - } - send(crc); - send(0xAA); // DUMMY BYTES - send(0xAA); - send(0xAA); - - /* Back to receiver mode */ - changeMode(RX); - status(); -} - -/********************************************************************** - * PRIVATE FUNCTIONS - *********************************************************************/ - -/* Initialises the RF12B module */ -void RF12B::init() { - /* writeCmd(0x80E7); //EL,EF,868band,12.0pF - changeMode(RX); - writeCmd(0xA640); //frequency select - writeCmd(0xC647); //4.8kbps - writeCmd(0x94A0); //VDI,FAST,134kHz,0dBm,-103dBm - writeCmd(0xC2AC); //AL,!ml,DIG,DQD4 - writeCmd(0xCA81); //FIFO8,SYNC,!ff,DR - writeCmd(0xCED4); //SYNC=2DD4 - writeCmd(0xC483); //@PWR,NO RSTRIC,!st,!fi,OE,EN - writeCmd(0x9850); //!mp,90kHz,MAX OUT - writeCmd(0xCC17); //OB1, COB0, LPX, Iddy, CDDIT�CBW0 - writeCmd(0xE000); //NOT USED - writeCmd(0xC800); //NOT USED - writeCmd(0xC040); //1.66MHz,2.2V */ - - writeCmd( - RFM_CONFIG_EL | - RFM_CONFIG_EF | - RFM_CONFIG_BAND_433 //| - //RFM_CONFIG_X_11_0pf // meh, using default - ); - - // 2. Power Management Command - // leave everything switched off for now - /* - writeCmd( - RFM_POWER_MANAGEMENT // switch all off - ); - */ - - // 3. Frequency Setting Command - writeCmd( - RFM_FREQUENCY | - RFM_FREQ_433Band(435.7) //I totally made this value up... if someone knows where the sweetspots are in this band, tell me! - ); - - - // 4. Data Rate Command - writeCmd(RFM_DATA_RATE_9600); - - - // 5. Receiver Control Command - writeCmd( - RFM_RX_CONTROL_P20_VDI | - RFM_RX_CONTROL_VDI_FAST | - //RFM_RX_CONTROL_BW(RFM_BAUD_RATE) | - RFM_RX_CONTROL_BW_134 | // CHANGE THIS TO 67 TO IMPROVE RANGE! (though the bitrate must then be below 8kbaud, and fsk modulation changed) - RFM_RX_CONTROL_GAIN_0 | - RFM_RX_CONTROL_RSSI_103 // Might need adjustment. Datasheet says around 10^-5 bit error rate at this level and baudrate. - ); - - // 6. Data Filter Command - writeCmd( - RFM_DATA_FILTER_AL | - RFM_DATA_FILTER_ML | - RFM_DATA_FILTER_DIG //| - //RFM_DATA_FILTER_DQD(4) - ); - - // 7. FIFO and Reset Mode Command - writeCmd( - RFM_FIFO_IT(8) | - RFM_FIFO_DR | - 0x8 //turn on 16bit sync word - ); - - // 8. FIFO Syncword - // Leave as default: 0xD4 - - // 9. Receiver FIFO Read - // when the interupt goes high, (and if we can assume that it was a fifo fill interrupt) we can read a byte using: - // result = RFM_READ_FIFO(); - - // 10. AFC Command - writeCmd( - //RFM_AFC_AUTO_VDI | //Note this might be changed to improve range. Refer to datasheet. - RFM_AFC_AUTO_INDEPENDENT | - RFM_AFC_RANGE_LIMIT_7_8 | - RFM_AFC_EN | - RFM_AFC_OE | - RFM_AFC_FI - ); - - // 11. TX Configuration Control Command - writeCmd( - RFM_TX_CONTROL_MOD_60 | - RFM_TX_CONTROL_POW_0 - ); - - - // 12. PLL Setting Command - writeCmd( - 0xCC77 & ~0x01 // Setting the PLL bandwith, less noise, but max bitrate capped at 86.2 - // I think this will slow down the pll's reaction time. Not sure, check with someone! - ); - - changeMode(RX); - resetRX(); - status(); -} - -/* Write a command to the RF Module */ -unsigned int RF12B::writeCmd(unsigned int cmd) { - NCS = 0; - unsigned int recv = spi.write(cmd); - NCS = 1; - return recv; -} - -/* Sends a byte of data across RF */ -void RF12B::send(unsigned char data) { - while (NIRQ); - writeCmd(0xB800 + data); -} - -/* Change the mode of the RF module to Transmitting or Receiving */ -void RF12B::changeMode(rfmode_t _mode) { - mode = _mode; - if (_mode == TX) { - writeCmd(0x8239); //!er,!ebb,ET,ES,EX,!eb,!ew,DC - } else { /* mode == RX */ - writeCmd(0x8299); //er,!ebb,ET,ES,EX,!eb,!ew,DC - } -} - -/* Interrupt routine for data reception */ -void RF12B::rxISR() { - - //static int cnt = 0; - //printf("%d hits\r\n", cnt); - //cnt++; - - //DBG2 = !(cnt%3); - //DBG3 = !((cnt+1)%3); - //DBG4 = !((cnt+2)%3); - - unsigned int data = 0; - static int i = -2; - static unsigned char packet_length = 0; - static unsigned char crc = 0; - - //Loop while interrupt is asserted - while (!NIRQ_in && mode == RX) { - - // Grab the packet's length byte - if (i == -2) { - data = writeCmd(0x0000); - if ( (data&0x8000) ) { - data = writeCmd(0xB000); - packet_length = (data&0x00FF); - crc = crc8(crc, packet_length); - i++; - } - } - - //If we exhaust the interrupt, exit - if (NIRQ_in) - break; - - // Check that packet length was correct - if (i == -1) { - data = writeCmd(0x0000); - if ( (data&0x8000) ) { - data = writeCmd(0xB000); - unsigned char crcofsize = (data&0x00FF); - if (crcofsize != crc) { - //It was wrong, start over - i = -2; - packet_length = 0; - crc = 0; - //temp = queue<unsigned char>(); - resetRX(); - } else { - crc = crc8(crc, crcofsize); - i++; - } - } - } - - //If we exhaust the interrupt, exit - if (NIRQ_in) - break; - - // Grab the packet's data - if (i >= 0 && i < packet_length) { - data = writeCmd(0x0000); - if ( (data&0x8000) ) { - data = writeCmd(0xB000); - //temp.push(data&0x00FF); - crc = crc8(crc, (unsigned char)(data&0x00FF)); - i++; - } - } - - //If we exhaust the interrupt, exit - if (NIRQ_in) - break; - - if (i >= packet_length) { - data = writeCmd(0x0000); - if ( (data&0x8000) ) { - data = writeCmd(0xB000); - if ((unsigned char)(data & 0x00FF) == crc) { - //If the checksum is correct, add our data to the end of the output buffer - //while (!temp.empty()) { - // fifo.push(temp.front()); - // temp.pop(); - //} - } - - // Tell RF Module we are finished, and clean up - i = -2; - packet_length = 0; - crc = 0; - //temp = queue<unsigned char>(); - resetRX(); - } - } - } -} - -unsigned int RF12B::status() { - return writeCmd(0x0000); -} - -/* Tell the RF Module this packet is received and wait for the next */ -void RF12B::resetRX() { - writeCmd(0xCA81); - writeCmd(0xCA83); -}; - -/* Calculate CRC8 */ -unsigned char RF12B::crc8(unsigned char crc, unsigned char data) { - crc = crc ^ data; - for (int i = 0; i < 8; i++) { - if (crc & 0x01) { - crc = (crc >> 1) ^ 0x8C; - } else { - crc >>= 1; - } - } - return crc; -} \ No newline at end of file