File content as of revision 0:434fd09723be:

#include "RF12B.h"

#include "RF_defs.h"
#include <algorithm>
#include "system.h"
#include "globals.h"


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&#65533;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);
    writeCmd(RFM_DATA_RATE_57600);


    // 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() {

    unsigned int data = 0;
    static int i = -2;
    static unsigned char packet_length = 0;
    static unsigned char crc = 0;
//    #ifdef ROBOT_SECONDARY
    static unsigned char temp;
//    #endif

    //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);
 //               #ifdef ROBOT_SECONDARY
                temp = data&0x00FF;
 //               #endif
                //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);
                     //   temp.pop();
//#ifdef ROBOT_SECONDARY
                        if (callbackfunc)
                            (*callbackfunc)(temp);

                        if (callbackobj && mcallbackfunc)
                            (callbackobj->*mcallbackfunc)(temp);
//#endif
                   // }
                }

                // 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;
}