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Dependents: xtoff3 CYS_Receiver
Fork of RF24Network by
RF24Network.h
- Committer:
- akashvibhute
- Date:
- 2016-04-21
- Revision:
- 5:b1110d26a900
- Parent:
- 4:75c5aa56411f
File content as of revision 5:b1110d26a900:
/* Copyright (C) 2011 James Coliz, Jr. <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 __RF24NETWORK_H__ #define __RF24NETWORK_H__ /** * @file RF24Network.h * * Class declaration for RF24Network */ #include "mbed.h" #include <stddef.h> #include <stdint.h> //#include <stdio.h> //#include <string.h> #include "RF24Network_config.h" /** */ /* Header types range */ #define MIN_USER_DEFINED_HEADER_TYPE 0 #define MAX_USER_DEFINED_HEADER_TYPE 127 /** */ // ACK Response Types /** * **Reserved network message types** * * The network will determine whether to automatically acknowledge payloads based on their general type <br> * * **User types** (1-127) 1-64 will NOT be acknowledged <br> * **System types** (128-255) 192 through 255 will NOT be acknowledged<br> * * @defgroup DEFINED_TYPES Reserved System Message Types * * System types can also contain message data. * * @{ */ /** * A NETWORK_ADDR_RESPONSE type is utilized to manually route custom messages containing a single RF24Network address * * Used by RF24Mesh * * If a node receives a message of this type that is directly addressed to it, it will read the included message, and forward the payload * on to the proper recipient. <br> * This allows nodes to forward multicast messages to the master node, receive a response, and forward it back to the requester. */ #define NETWORK_ADDR_RESPONSE 128 //#define NETWORK_ADDR_CONFIRM 129 /** * Messages of type NETWORK_PING will be dropped automatically by the recipient. A NETWORK_ACK or automatic radio-ack will indicate to the sender whether the * payload was successful. The time it takes to successfully send a NETWORK_PING is the round-trip-time. */ #define NETWORK_PING 130 /** * External data types are used to define messages that will be passed to an external data system. This allows RF24Network to route and pass any type of data, such * as TCP/IP frames, while still being able to utilize standard RF24Network messages etc. * * **Linux** * Linux devices (defined RF24_LINUX) will buffer all data types in the user cache. * * **Arduino/AVR/Etc:** Data transmitted with the type set to EXTERNAL_DATA_TYPE will not be loaded into the user cache. <br> * External systems can extract external data using the following process, while internal data types are cached in the user buffer, and accessed using network.read() : * @code * uint8_t return_type = network.update(); * if(return_type == EXTERNAL_DATA_TYPE){ * uint16_t size = network.frag_ptr->message_size; * memcpy(&myDataBuffer,network.frag_ptr->message_buffer,network.frag_ptr->message_size); * } * @endcode */ #define EXTERNAL_DATA_TYPE 131 /** * Messages of this type designate the first of two or more message fragments, and will be re-assembled automatically. */ #define NETWORK_FIRST_FRAGMENT 148 /** * Messages of this type indicate a fragmented payload with two or more message fragments. */ #define NETWORK_MORE_FRAGMENTS 149 /** * Messages of this type indicate the last fragment in a sequence of message fragments. * Messages of this type do not receive a NETWORK_ACK */ #define NETWORK_LAST_FRAGMENT 150 //#define NETWORK_LAST_FRAGMENT 201 // NO ACK Response Types //#define NETWORK_ACK_REQUEST 192 /** * Messages of this type are used internally, to signal the sender that a transmission has been completed. * RF24Network does not directly have a built-in transport layer protocol, so message delivery is not 100% guaranteed.<br> * Messages can be lost via corrupted dynamic payloads, or a NETWORK_ACK can fail, while the message was actually successful. * * NETWORK_ACK messages can be utilized as a traffic/flow control mechanism, since transmitting nodes will be forced to wait until * the payload is transmitted across the network and acknowledged, before sending additional data. * * In the event that the transmitting device will be waiting for a direct response, manually sent by the recipient, a NETWORK_ACK is not required. <br> * User messages utilizing a 'type' with a decimal value of 64 or less will not be acknowledged across the network via NETWORK_ACK messages. */ #define NETWORK_ACK 193 /** * Used by RF24Mesh * * Messages of this type are used with multi-casting , to find active/available nodes. * Any node receiving a NETWORK_POLL sent to a multicast address will respond directly to the sender with a blank message, indicating the * address of the available node via the header. */ #define NETWORK_POLL 194 /** * Used by RF24Mesh * * Messages of this type are used to request information from the master node, generally via a unicast (direct) write. * Any (non-master) node receiving a message of this type will manually forward it to the master node using an normal network write. */ #define NETWORK_REQ_ADDRESS 195 //#define NETWORK_ADDR_LOOKUP 196 //#define NETWORK_ADDR_RELEASE 197 /** @} */ #define NETWORK_MORE_FRAGMENTS_NACK 200 /** Internal defines for handling written payloads */ #define TX_NORMAL 0 #define TX_ROUTED 1 #define USER_TX_TO_PHYSICAL_ADDRESS 2 //no network ACK #define USER_TX_TO_LOGICAL_ADDRESS 3 // network ACK #define USER_TX_MULTICAST 4 #define MAX_FRAME_SIZE 32 //Size of individual radio frames #define FRAME_HEADER_SIZE 10 //Size of RF24Network frames - data #define USE_CURRENT_CHANNEL 255 // Use current radio channel when setting up the network /** Internal defines for handling internal payloads - prevents reading additional data from the radio * when buffers are full */ #define FLAG_HOLD_INCOMING 1 /** FLAG_BYPASS_HOLDS is mainly for use with RF24Mesh as follows: * a: Ensure no data in radio buffers, else exit * b: Address is changed to multicast address for renewal * c: Holds Cleared (bypass flag is set) * d: Address renewal takes place and is set * e: Holds Enabled (bypass flag off) */ #define FLAG_BYPASS_HOLDS 2 #define FLAG_FAST_FRAG 4 #define FLAG_NO_POLL 8 class RF24; /** * Header which is sent with each message * * The frame put over the air consists of this header and a message * * Headers are addressed to the appropriate node, and the network forwards them on to their final destination. */ struct RF24NetworkHeader { uint16_t from_node; /**< Logical address where the message was generated */ uint16_t to_node; /**< Logical address where the message is going */ uint16_t id; /**< Sequential message ID, incremented every time a new frame is constructed */ /** * Message Types: * User message types 1 through 64 will NOT be acknowledged by the network, while message types 65 through 127 will receive a network ACK. * System message types 192 through 255 will NOT be acknowledged by the network. Message types 128 through 192 will receive a network ACK. <br> * <br><br> */ unsigned char type; /**< <b>Type of the packet. </b> 0-127 are user-defined types, 128-255 are reserved for system */ /** * During fragmentation, it carries the fragment_id, and on the last fragment * it carries the header_type.<br> */ unsigned char reserved; /**< *Reserved for system use* */ static uint16_t next_id; /**< The message ID of the next message to be sent (unused)*/ /** * Default constructor * * Simply constructs a blank header */ RF24NetworkHeader() {} /** * Send constructor * * @note Now supports automatic fragmentation for very long messages, which can be sent as usual if fragmentation is enabled. * * Fragmentation is enabled by default for all devices except ATTiny <br> * Configure fragmentation and max payload size in RF24Network_config.h * * Use this constructor to create a header and then send a message * * @code * uint16_t recipient_address = 011; * * RF24NetworkHeader header(recipient_address,'t'); * * network.write(header,&message,sizeof(message)); * @endcode * * @param _to The Octal format, logical node address where the message is going * @param _type The type of message which follows. Only 0-127 are allowed for * user messages. Types 1-64 will not receive a network acknowledgement. */ RF24NetworkHeader(uint16_t _to, unsigned char _type = 0): to_node(_to), id(next_id++), type(_type) {} /** * Create debugging string * * Useful for debugging. Dumps all members into a single string, using * internal static memory. This memory will get overridden next time * you call the method. * * @return String representation of this object */ const char* toString(void) const; }; /** * Frame structure for internal message handling, and for use by external applications * * The actual frame put over the air consists of a header (8-bytes) and a message payload (Up to 24-bytes)<br> * When data is received, it is stored using the RF24NetworkFrame structure, which includes: * 1. The header * 2. The size of the included message * 3. The 'message' or data being received * * */ struct RF24NetworkFrame { RF24NetworkHeader header; /**< Header which is sent with each message */ uint16_t message_size; /**< The size in bytes of the payload length */ /** * On Arduino, the message buffer is just a pointer, and can be pointed to any memory location. * On Linux the message buffer is a standard byte array, equal in size to the defined MAX_PAYLOAD_SIZE */ uint8_t *message_buffer; //< Pointer to the buffer storing the actual message /** * Default constructor * * Simply constructs a blank frame. Frames are generally used internally. See RF24NetworkHeader. */ //RF24NetworkFrame() {} RF24NetworkFrame() {} /** * Constructor - create a network frame with data * Frames are constructed and handled differently on Arduino/AVR and Linux devices (defined RF24_LINUX) * * <br> * **Linux:** * @param _header The RF24Network header to be stored in the frame * @param _message The 'message' or data. * @param _len The size of the 'message' or data. * * <br> * **Arduino/AVR/Etc.** * @see RF24Network.frag_ptr * @param _header The RF24Network header to be stored in the frame * @param _message_size The size of the 'message' or data * * * Frames are used internally and by external systems. See RF24NetworkHeader. */ RF24NetworkFrame(RF24NetworkHeader &_header, uint16_t _message_size): header(_header), message_size(_message_size){ } /** * Create debugging string * * Useful for debugging. Dumps all members into a single string, using * internal static memory. This memory will get overridden next time * you call the method. * * @return String representation of this object */ const char* toString(void) const; }; /** * 2014-2015 - Optimized Network Layer for RF24 Radios * * This class implements an OSI Network Layer using nRF24L01(+) radios driven * by RF24 library. */ class RF24Network { /**@}*/ /** * @name Primary Interface * * These are the main methods you need to operate the network */ /**@{*/ public: /** * Construct the network * * @param _radio The underlying radio driver instance * */ RF24Network( RF24& _radio ); /** * Bring up the network using the current radio frequency/channel. * Calling begin brings up the network, and configures the address, which designates the location of the node within RF24Network topology. * @note Node addresses are specified in Octal format, see <a href=Addressing.html>RF24Network Addressing</a> for more information. * @warning Be sure to 'begin' the radio first. * * **Example 1:** Begin on current radio channel with address 0 (master node) * @code * network.begin(00); * @endcode * **Example 2:** Begin with address 01 (child of master) * @code * network.begin(01); * @endcode * **Example 3:** Begin with address 011 (child of 01, grandchild of master) * @code * network.begin(011); * @endcode * * @see begin(uint8_t _channel, uint16_t _node_address ) * @param _node_address The logical address of this node * */ inline void begin(uint16_t _node_address){ begin(USE_CURRENT_CHANNEL,_node_address); } /** * Main layer loop * * This function must be called regularly to keep the layer going. This is where payloads are * re-routed, received, and all the action happens. * * @see * * @return Returns the type of the last received payload. */ uint8_t update(void); /** * Test whether there is a message available for this node * * @return Whether there is a message available for this node */ bool available(void); /** * Read the next available header * * Reads the next available header without advancing to the next * incoming message. Useful for doing a switch on the message type * * If there is no message available, the header is not touched * * @param[out] header The header (envelope) of the next message */ uint16_t peek(RF24NetworkHeader& header); /** * Read a message * * @code * while ( network.available() ) { * RF24NetworkHeader header; * uint32_t time; * network.peek(header); * if(header.type == 'T'){ * network.read(header,&time,sizeof(time)); * Serial.print("Got time: "); * Serial.println(time); * } * } * @endcode * @param[out] header The header (envelope) of this message * @param[out] message Pointer to memory where the message should be placed * @param maxlen The largest message size which can be held in @p message * @return The total number of bytes copied into @p message */ uint16_t read(RF24NetworkHeader& header, void* message, uint16_t maxlen); /** * Send a message * * @note RF24Network now supports fragmentation for very long messages, send as normal. Fragmentation * may need to be enabled or configured by editing the RF24Network_config.h file. Default max payload size is 120 bytes. * * @code * uint32_t time = millis(); * uint16_t to = 00; // Send to master * RF24NetworkHeader header(to, 'T'); // Send header type 'T' * network.write(header,&time,sizeof(time)); * @endcode * @param[in,out] header The header (envelope) of this message. The critical * thing to fill in is the @p to_node field so we know where to send the * message. It is then updated with the details of the actual header sent. * @param message Pointer to memory where the message is located * @param len The size of the message * @return Whether the message was successfully received */ bool write(RF24NetworkHeader& header,const void* message, uint16_t len); /**@}*/ /** * @name Advanced Configuration * * For advanced configuration of the network */ /**@{*/ /** * Construct the network in dual head mode using two radio modules. * @note Not working on RPi. Radios will share MISO, MOSI and SCK pins, but require separate CE,CS pins. * @code * RF24 radio(7,8); * RF24 radio1(4,5); * RF24Network(radio.radio1); * @endcode * @param _radio The underlying radio driver instance * @param _radio1 The second underlying radio driver instance */ RF24Network( RF24& _radio, RF24& _radio1); /** * By default, multicast addresses are divided into levels. * * Nodes 1-5 share a multicast address, nodes n1-n5 share a multicast address, and nodes n11-n55 share a multicast address.<br> * * This option is used to override the defaults, and create custom multicast groups that all share a single * address. <br> * The level should be specified in decimal format 1-6 <br> * @see multicastRelay * @param level Levels 1 to 6 are available. All nodes at the same level will receive the same * messages if in range. Messages will be routed in order of level, low to high by default, with the * master node (00) at multicast Level 0 */ void multicastLevel(uint8_t level); /** * Enabling this will allow this node to automatically forward received multicast frames to the next highest * multicast level. Duplicate frames are filtered out, so multiple forwarding nodes at the same level should * not interfere. Forwarded payloads will also be received. * @see multicastLevel */ bool multicastRelay; /** * Set up the watchdog timer for sleep mode using the number 0 through 10 to represent the following time periods:<br> * wdt_16ms = 0, wdt_32ms, wdt_64ms, wdt_128ms, wdt_250ms, wdt_500ms, wdt_1s, wdt_2s, wdt_4s, wdt_8s * @code * setup_watchdog(7); // Sets the WDT to trigger every second * @endcode * @param prescalar The WDT prescaler to define how often the node will wake up. When defining sleep mode cycles, this time period is 1 cycle. */ void setup_watchdog(uint8_t prescalar); /** * @note: This value is automatically assigned based on the node address * to reduce errors and increase throughput of the network. * * Sets the timeout period for individual payloads in milliseconds at staggered intervals. * Payloads will be retried automatically until success or timeout * Set to 0 to use the normal auto retry period defined by radio.setRetries() * */ uint32_t txTimeout; /**< Network timeout value */ /** * This only affects payloads that are routed by one or more nodes. * This specifies how long to wait for an ack from across the network. * Radios sending directly to their parent or children nodes do not * utilize this value. */ uint16_t routeTimeout; /**< Timeout for routed payloads */ /**@}*/ /** * @name Advanced Operation * * For advanced operation of the network */ /**@{*/ /** * Return the number of failures and successes for all transmitted payloads, routed or sent directly * @note This needs to be enabled via #define ENABLE_NETWORK_STATS in RF24Network_config.h * * @code * bool fails, success; * network.failures(&fails,&success); * @endcode * */ void failures(uint32_t *_fails, uint32_t *_ok); #if defined (RF24NetworkMulticast) /** * Send a multicast message to multiple nodes at once * Allows messages to be rapidly broadcast through the network * * Multicasting is arranged in levels, with all nodes on the same level listening to the same address * Levels are assigned by network level ie: nodes 01-05: Level 1, nodes 011-055: Level 2 * @see multicastLevel * @see multicastRelay * @param message Pointer to memory where the message is located * @param len The size of the message * @param level Multicast level to broadcast to * @return Whether the message was successfully sent */ bool multicast(RF24NetworkHeader& header,const void* message, uint16_t len, uint8_t level); #endif /** * Writes a direct (unicast) payload. This allows routing or sending messages outside of the usual routing paths. * The same as write, but a physical address is specified as the last option. * The payload will be written to the physical address, and routed as necessary by the recipient */ bool write(RF24NetworkHeader& header,const void* message, uint16_t len, uint16_t writeDirect); /** * Sleep this node - For AVR devices only * @note NEW - Nodes can now be slept while the radio is not actively transmitting. This must be manually enabled by uncommenting * the #define ENABLE_SLEEP_MODE in RF24Network_config.h * @note Setting the interruptPin to 255 will disable interrupt wake-ups * @note The watchdog timer should be configured in setup() if using sleep mode. * This function will sleep the node, with the radio still active in receive mode. * * The node can be awoken in two ways, both of which can be enabled simultaneously: * 1. An interrupt - usually triggered by the radio receiving a payload. Must use pin 2 (interrupt 0) or 3 (interrupt 1) on Uno, Nano, etc. * 2. The watchdog timer waking the MCU after a designated period of time, can also be used instead of delays to control transmission intervals. * @code * if(!network.available()){ network.sleepNode(1,0); } //Sleeps the node for 1 second or a payload is received * * Other options: * network.sleepNode(0,0); // Sleep this node for the designated time period, or a payload is received. * network.sleepNode(1,255); // Sleep this node for 1 cycle. Do not wake up until then, even if a payload is received ( no interrupt ) * @endcode * @see setup_watchdog() * @param cycles: The node will sleep in cycles of 1s. Using 2 will sleep 2 WDT cycles, 3 sleeps 3WDT cycles... * @param interruptPin: The interrupt number to use (0,1) for pins two and three on Uno,Nano. More available on Mega etc. * @return True if sleepNode completed normally, after the specified number of cycles. False if sleep was interrupted */ bool sleepNode( unsigned int cycles, int interruptPin ); /** * This node's parent address * * @return This node's parent address, or -1 if this is the base */ uint16_t parent() const; /** * Provided a node address and a pipe number, will return the RF24Network address of that child pipe for that node */ uint16_t addressOfPipe( uint16_t node,uint8_t pipeNo ); /** * @note Addresses are specified in octal: 011, 034 * @return True if a supplied address is valid */ bool is_valid_address( uint16_t node ); /**@}*/ /** * @name Deprecated * * Maintained for backwards compatibility */ /**@{*/ /** * Bring up the network on a specific radio frequency/channel. * @note Use radio.setChannel() to configure the radio channel * * **Example 1:** Begin on channel 90 with address 0 (master node) * @code * network.begin(90,0); * @endcode * **Example 2:** Begin on channel 90 with address 01 (child of master) * @code * network.begin(90,01); * @endcode * **Example 3:** Begin on channel 90 with address 011 (child of 01, grandchild of master) * @code * network.begin(90,011); * @endcode * * @param _channel The RF channel to operate on * @param _node_address The logical address of this node * */ void begin(uint8_t _channel, uint16_t _node_address ); /**@}*/ /** * @name External Applications/Systems * * Interface for External Applications and Systems ( RF24Mesh, RF24Ethernet ) */ /**@{*/ /** The raw system frame buffer of received data. */ uint8_t frame_buffer[MAX_FRAME_SIZE]; /** * **Linux** <br> * Data with a header type of EXTERNAL_DATA_TYPE will be loaded into a separate queue. * The data can be accessed as follows: * @code * RF24NetworkFrame f; * while(network.external_queue.size() > 0){ * f = network.external_queue.front(); * uint16_t dataSize = f.message_size; * //read the frame message buffer * memcpy(&myBuffer,&f.message_buffer,dataSize); * network.external_queue.pop(); * } * @endcode */ #if !defined ( DISABLE_FRAGMENTATION ) /** * **ARDUINO** <br> * The frag_ptr is only used with Arduino (not RPi/Linux) and is mainly used for external data systems like RF24Ethernet. When * an EXTERNAL_DATA payload type is received, and returned from network.update(), the frag_ptr will always point to the starting * memory location of the received frame. <br>This is used by external data systems (RF24Ethernet) to immediately copy the received * data to a buffer, without using the user-cache. * * @see RF24NetworkFrame * * @code * uint8_t return_type = network.update(); * if(return_type == EXTERNAL_DATA_TYPE){ * uint16_t size = network.frag_ptr->message_size; * memcpy(&myDataBuffer,network.frag_ptr->message_buffer,network.frag_ptr->message_size); * } * @endcode * Linux devices (defined as RF24_LINUX) currently cache all payload types, and do not utilize frag_ptr. */ RF24NetworkFrame* frag_ptr; #endif /** * Variable to determine whether update() will return after the radio buffers have been emptied (DEFAULT), or * whether to return immediately when (most) system types are received. * * As an example, this is used with RF24Mesh to catch and handle system messages without loading them into the user cache. * * The following reserved/system message types are handled automatically, and not returned. * * | System Message Types <br> (Not Returned) | * |-----------------------| * | NETWORK_ADDR_RESPONSE | * | NETWORK_ACK | * | NETWORK_PING | * | NETWORK_POLL <br>(With multicast enabled) | * | NETWORK_REQ_ADDRESS | * */ bool returnSysMsgs; /** * Network Flags allow control of data flow * * Incoming Blocking: If the network user-cache is full, lets radio cache fill up. Radio ACKs are not sent when radio internal cache is full.<br> * This behaviour may seem to result in more failed sends, but the payloads would have otherwise been dropped due to the cache being full.<br> * * | FLAGS | Value | Description | * |-------|-------|-------------| * |FLAG_HOLD_INCOMING| 1(bit_1) | INTERNAL: Set automatically when a fragmented payload will exceed the available cache | * |FLAG_BYPASS_HOLDS| 2(bit_2) | EXTERNAL: Can be used to prevent holds from blocking. Note: Holds are disabled & re-enabled by RF24Mesh when renewing addresses. This will cause data loss if incoming data exceeds the available cache space| * |FLAG_FAST_FRAG| 4(bit_3) | INTERNAL: Replaces the fastFragTransfer variable, and allows for faster transfers between directly connected nodes. | * |FLAG_NO_POLL| 8(bit_4) | EXTERNAL/USER: Disables NETWORK_POLL responses on a node-by-node basis. | * */ uint8_t networkFlags; private: uint32_t txTime; Timer mainTimer; bool write(uint16_t, uint8_t directTo); bool write_to_pipe( uint16_t node, uint8_t pipe, bool multicast ); uint8_t enqueue(RF24NetworkHeader *header); bool is_direct_child( uint16_t node ); bool is_descendant( uint16_t node ); uint16_t direct_child_route_to( uint16_t node ); //uint8_t pipe_to_descendant( uint16_t node ); void setup_address(void); bool _write(RF24NetworkHeader& header,const void* message, uint16_t len, uint16_t writeDirect); struct logicalToPhysicalStruct{ uint16_t send_node; uint8_t send_pipe; bool multicast; }; bool logicalToPhysicalAddress(logicalToPhysicalStruct *conversionInfo); RF24& radio; /**< Underlying radio driver, provides link/physical layers */ #if defined (DUAL_HEAD_RADIO) RF24& radio1; #endif #if defined (RF24NetworkMulticast) uint8_t multicast_level; #endif uint16_t node_address; /**< Logical node address of this unit, 1 .. UINT_MAX */ //const static int frame_size = 32; /**< How large is each frame over the air */ uint8_t frame_size; const static unsigned int max_frame_payload_size = MAX_FRAME_SIZE-sizeof(RF24NetworkHeader); #if !defined (NUM_USER_PAYLOADS) #define NUM_USER_PAYLOADS 5 #endif #if defined (DISABLE_USER_PAYLOADS) uint8_t frame_queue[1]; /**< Space for a small set of frames that need to be delivered to the app layer */ #else uint8_t frame_queue[MAIN_BUFFER_SIZE]; /**< Space for a small set of frames that need to be delivered to the app layer */ #endif uint8_t* next_frame; /**< Pointer into the @p frame_queue where we should place the next received frame */ #if !defined ( DISABLE_FRAGMENTATION ) RF24NetworkFrame frag_queue; uint8_t frag_queue_message_buffer[MAX_PAYLOAD_SIZE]; //frame size + 1 #endif //uint8_t frag_queue[MAX_PAYLOAD_SIZE + 11]; //RF24NetworkFrame frag_queue; uint16_t parent_node; /**< Our parent's node address */ uint8_t parent_pipe; /**< The pipe our parent uses to listen to us */ uint16_t node_mask; /**< The bits which contain signfificant node address information */ #if defined ENABLE_NETWORK_STATS static uint32_t nFails; static uint32_t nOK; #endif public: }; /** * @example helloworld_tx.ino * * Simplest possible example of using RF24Network. Put this sketch * on one node, and helloworld_rx.pde on the other. Tx will send * Rx a nice message every 2 seconds which rx will print out for us. */ /** * @example helloworld_rx.ino * * Simplest possible example of using RF24Network. Put this sketch * on one node, and helloworld_tx.pde on the other. Tx will send * Rx a nice message every 2 seconds which rx will print out for us. */ /** * @example Network_Ping.ino * * Example to give users an understanding of addressing and topology in the mesh network * Using this sketch, each node will send a ping to the base every * few seconds. The RF24Network library will route the message across * the mesh to the correct node. * */ /** * @example Network_Ping_Sleep.ino * * Example: This is almost exactly the same as the Network_Ping example, but with use * of the integrated sleep mode. * * This example demonstrates how nodes on the network utilize sleep mode to conserve power. For example, * the radio itself will draw about 13.5mA in receive mode. In sleep mode, it will use as little as 22ua (.000022mA) * of power when not actively transmitting or receiving data. In addition, the Arduino is powered down as well, * dropping network power consumption dramatically compared to previous capabilities. <br> * Note: Sleeping nodes generate traffic that will wake other nodes up. This may be mitigated with further modifications. Sleep * payloads are currently always routed to the master node, which will wake up intermediary nodes. Routing nodes can be configured * to go back to sleep immediately. * The displayed millis() count will give an indication of how much a node has been sleeping compared to the others, as millis() will * not increment while a node sleeps. *<br> * - Using this sketch, each node will send a ping to every other node in the network every few seconds.<br> * - The RF24Network library will route the message across the mesh to the correct node.<br> * */ /** * @example sensornet.pde * * Example of a sensor network. * This sketch demonstrates how to use the RF24Network library to * manage a set of low-power sensor nodes which mostly sleep but * awake regularly to send readings to the base. */ /** * @mainpage Network Layer for RF24 Radios * * This class implements an <a href="http://en.wikipedia.org/wiki/Network_layer">OSI Network Layer</a> using nRF24L01(+) radios driven * by the newly optimized <a href="http://tmrh20.github.com/RF24/">RF24</a> library fork. * * @section Purpose Purpose/Goal * * Original: Create an alternative to ZigBee radios for Arduino communication. * * New: Enhance the current functionality for maximum efficiency, reliability, and speed * * Xbees are excellent little radios, backed up by a mature and robust standard * protocol stack. They are also expensive. * * For many Arduino uses, they seem like overkill. So I am working to improve the current * standard for nRF24L01 radios. The best RF24 modules are available for less than * $6 from many sources. With the RF24Network layer, I hope to cover many * common communication scenarios. * * Please see the @ref Zigbee page for a comparison against the ZigBee protocols * * @section Features Features * * <b>Whats new? </b><br> * @li New: (Dec 8) Merge of RPi and Arduino code. Finally moving closer to a stable release. Report issues at https://github.com/TMRh20/RF24Network/issues * @li New functionality: (Dec 8) Support for fragmented multicast payloads on both RPi and Arduino * @li New functionality: (Nov 24) Fragmentation & reassembly supported on both RPi and Arduino * @li Note: structure of network frames is changed, these are only used by external applications like RF24Ethernet and RF24toTUN, and for fragmentation * @li New functionality: User message types 1 through 64 will not receive a network ack * * The layer provides: * @li <b>New</b> (2014): Network ACKs: Efficient acknowledgement of network-wide transmissions, via dynamic radio acks and network protocol acks. * @li <b>New</b> (2014): Updated addressing standard for optimal radio transmission. * @li <b>New</b> (2014): Extended timeouts and staggered timeout intervals. The new txTimeout variable allows fully automated extended timeout periods via auto-retry/auto-reUse of payloads. * @li <b>New</b> (2014): Optimization to the core library provides improvements to reliability, speed and efficiency. See https://tmrh20.github.io/RF24 for more info. * @li <b>New</b> (2014): Built in sleep mode using interrupts. (Still under development. (Enable via RF24Network_config.h)) * @li <b>New</b> (2014): Dual headed operation: The use of dual radios for busy routing nodes or the master node enhances throughput and decreases errors. See the <a href="Tuning.html">Tuning</a> section. * @li Host Addressing. Each node has a logical address on the local network. * @li Message Forwarding. Messages can be sent from one node to any other, and * this layer will get them there no matter how many hops it takes. * @li Ad-hoc Joining. A node can join a network without any changes to any * existing nodes. * * The layer does not provide: * @li Dynamic address assignment. (See RF24Mesh) * @li Layer 4 protocols (TCP/IP - See RF24Ethernet and RF24toTUN) * * @section More How to learn more * * @li <a href="classRF24Network.html">RF24Network Class Documentation</a> * @li <a href="AdvancedConfig.html"> Advanced Configuration Options</a> * @li <a href="Addressing.html"> Addressing format</a> * @li <a href="Tuning.html"> Topology and Overview</a> * @li <a href="https://github.com/TMRh20/RF24Network/archive/Development.zip">Download Current Development Package</a> * @li <a href="examples.html">Examples Page</a>. Start with <a href="helloworld_rx_8ino-example.html">helloworld_rx</a> and <a href="helloworld_tx_8ino-example.html">helloworld_tx</a>. * * <b> Additional Information & Add-ons </b> * @li <a href="https://github.com/TMRh20/RF24Mesh">RF24Mesh: Dynamic Mesh Layer for RF24Network Dev</a> * @li <a href="https://github.com/TMRh20/RF24Ethernet">RF24Ethernet: TCP/IP over RF24Network</a> * @li <a href="http://tmrh20.blogspot.com/2014/03/high-speed-data-transfers-and-wireless.html">My Blog: RF24 Optimization Overview</a> * @li <a href="http://tmrh20.blogspot.com/2014/03/arduino-radiointercomwireless-audio.html">My Blog: RF24 Wireless Audio</a> * @li <a href="http://maniacbug.github.com/RF24/">RF24: Original Author</a> * @section Topology Topology for Mesh Networks using nRF24L01(+) * * This network layer takes advantage of the fundamental capability of the nRF24L01(+) radio to * listen actively to up to 6 other radios at once. The network is arranged in a * <a href="http://en.wikipedia.org/wiki/Network_Topology#Tree">Tree Topology</a>, where * one node is the base, and all other nodes are children either of that node, or of another. * Unlike a true mesh network, multiple nodes are not connected together, so there is only one * path to any given node. * * @section Octal Octal Addressing and Topology * * Each node must be assigned an 15-bit address by the administrator. This address exactly * describes the position of the node within the tree. The address is an octal number. Each * digit in the address represents a position in the tree further from the base. * * @li Node 00 is the base node. * @li Nodes 01-05 are nodes whose parent is the base. * @li Node 021 is the second child of node 01. * @li Node 0321 is the third child of node 021, an so on. * @li The largest node address is 05555, so 3,125 nodes are allowed on a single channel. * An example topology is shown below, with 5 nodes in direct communication with the master node, * and multiple leaf nodes spread out at a distance, using intermediate nodes to reach other nodes. * *| | | 00 | | | 00 | | | | Master Node (00) | *|---|----|----|----|----|----|----|----|----|-----------------------------------------------------| *| | | 01 | | | 04 | | | | 1st level children of master (00) | *| | 011| | 021| | |014 | | | 2nd level children of master. Children of 1st level.| *|111| | | 121| 221| | | 114| | 3rd level children of master. Children of 2nd level.| *| | | | |1221| |1114|2114|3114| 4th level children of master. Children of 3rd level.| * * @section Routing How routing is handled * * When sending a message using RF24Network::write(), you fill in the header with the logical * node address. The network layer figures out the right path to find that node, and sends * it through the system until it gets to the right place. This works even if the two nodes * are far separated, as it will send the message down to the base node, and then back out * to the final destination. * * All of this work is handled by the RF24Network::update() method, so be sure to call it * regularly or your network will miss packets. * * @section Startup Starting up a node * * When a node starts up, it only has to contact its parent to establish communication. * No direct connection to the Base node is needed. This is useful in situations where * relay nodes are being used to bridge the distance to the base, so leaf nodes are out * of range of the base. * * @section Directionality Directionality * * By default all nodes are always listening, so messages will quickly reach * their destination. * * You may choose to sleep any nodes on the network if using interrupts. This is useful in a * case where the nodes are operating on batteries and need to sleep. This greatly decreases * the power requirements for a sensor network. The leaf nodes can sleep most of the time, * and wake every few minutes to send in a reading. Routing nodes can be triggered to wake up * whenever a payload is received See sleepNode() in the class documentation, and RFNetwork_config.h * to enable sleep mode. * * * @page Addressing Addressing Format: Understanding Addressing and Topology * An overview of addressing in RF24Network * * @section Overview Overview * The nrf24 radio modules typically use a 40-bit address format, requiring 5-bytes of storage space per address, and allowing a wide * array of addresses to be utilized. In addition, the radios are limited to direct communication with 6 other nodes while using the * Enhanced-Shock-Burst (ESB) functionality of the radios. * * RF24Network uses a simple method of data compression to store the addresses using only 2 bytes, in a format designed to represent the * network topology in an intuitive way. * See the <a href="Tuning.html"> Topology and Overview</a> page for more info regarding topology. * * @section Octal_Binary Decimal, Octal and Binary formats * * Say we want to designate a logical address to a node, using a tree topology as defined by the manufacturer. * In the simplest format, we could assign the first node the address of 1, the second 2 and so on. * Since a single node can only connect to 6 other nodes (1 parent and 5 children) subnets need to be created if using more than 6 nodes.<br> * In this case the children of node 1 could simply be designated as 11,21,31,41, and 51<br> * Children of node 2 could be designated as 12,22,32,42, and 52 * * The above example is exactly how RF24Network manages the addresses, but they are represented in Octal format. * * <b>Decimal, Octal and Binary</b> * <table> * <tr bgcolor="#a3b4d7" > * <td> Decimal </td> <td> Binary </td><td> Decimal </td> <td> Binary </td><td> Decimal </td> <td> Binary </td> * </tr><tr> * <td> 1 </td> <td> 00000001 </td><td> 11 </td> <td> 00001011 </td><td> 111 </td> <td> 01101111 </td> * </tr><tr bgcolor="#a3b4d7" > * <td> Octal </td> <td> Binary </td><td> Octal </td> <td> Binary </td><td> Octal </td> <td> Binary </td> * </tr><tr> * <td> 1 </td> <td> 00000001 </td><td> 011 </td> <td> 00001001 </td><td> 0111 </td> <td> 1001001 </td> * </tr> * </table> * * * Since the numbers 0-7 can be represented in exactly three bits, each digit is represented by exactly 3 bits when viewed in octal format. * This allows a very simple method of managing addresses via masking and bit shifting. * * @section DisplayAddresses Displaying Addresses * * When using Arduino devices, octal addresses can be printed in the following manner: * @code * uint16_t address = 0111; * Serial.println(address,OCT); * @endcode * * Printf can also be used, if enabled, or if using linux/RPi * @code * uint16_t address = 0111; * printf("0%o\n",address); * @endcode * * See http://www.cplusplus.com/doc/hex/ for more information<br> * See the <a href="Tuning.html"> Topology and Overview</a> page for more info regarding topology. * * @page AdvancedConfig Advanced Configuration * * RF24Network offers many features, some of which can be configured by editing the RF24Network_config.h file * * | Configuration Option | Description | * |----------------------|-------------| * |<b> #define RF24NetworkMulticast </b> | This option allows nodes to send and receive multicast payloads. Nodes with multicast enabled can also be configured to relay multicast payloads on to further multicast levels. See multicastRelay | * | <b> #define DISABLE_FRAGMENTATION </b> | Fragmentation is enabled by default, and uses an additional 144 bytes of memory. | * | <b> #define MAX_PAYLOAD_SIZE 144 </b> | The maximum size of payloads defaults to 144 bytes. If used with RF24toTUN and two Raspberry Pi, set this to 1514 (TAP) or 1500 (TUN) | * | <b> #define NUM_USER_PAYLOADS 5 </b> | This is the number of 24-byte payloads the network layer will cache for the user. If using fragmentation, this number * 24 must be larger than MAX_PAYLOAD_SIZE | * | <b> #define DISABLE_USER_PAYLOADS </b> | This option will disable user-caching of payloads entirely. Use with RF24Ethernet to reduce memory usage. (TCP/IP is an external data type, and not cached) | * | <b> #define ENABLE_SLEEP_MODE </b> | Uncomment this option to enable sleep mode for AVR devices. (ATTiny,Uno, etc) | * | <b> #define DUAL_HEAD_RADIO </b> | Uncomment this option to enable use of dual radios | * | **#define ENABLE_NETWORK_STATS** | Enable counting of all successful or failed transmissions, routed or sent directly | * ** @page Tuning Performance and Data Loss: Tuning the Network * Tips and examples for tuning the network and general operation. * * <img src="tmrh20/topologyImage.jpg" alt="Topology" height="75%" width="75%"> * * @section General Understanding Radio Communication and Topology * When a transmission takes place from one radio module to another, the receiving radio will communicate * back to the sender with an acknowledgement (ACK) packet, to indicate success. If the sender does not * receive an ACK, the radio automatically engages in a series of timed retries, at set intervals. The * radios use techniques like addressing and numbering of payloads to manage this, but it is all done * automatically by the nrf chip, out of sight from the user. * * When working over a radio network, some of these automated techniques can actually hinder data transmission to a degree. * Retrying failed payloads over and over on a radio network can hinder communication for nearby nodes, or * reduce throughput and errors on routing nodes. * * Radios in this network are linked by <b>addresses</b> assigned to <b>pipes</b>. Each radio can listen * to 6 addresses on 6 pipes, therefore each radio has a parent pipe and 5 child pipes, which are used * to form a tree structure. Nodes communicate directly with their parent and children nodes. Any other * traffic to or from a node must be routed through the network. * * @section Topology Topology of RF24Network * * Anybody who is familiar at all with IP networking should be able to easily understand RF24Network topology. The * master node can be seen as the gateway, with up to 4 directly connected nodes. Each of those nodes creates a * subnet below it, with up to 4 additional child nodes. The numbering scheme can also be related to IP addresses, * for purposes of understanding the topology via subnetting. Nodes can have 5 children if multicast is disabled. * * Expressing RF24Network addresses in IP format: * * As an example, we could designate the master node in theory, as Address 10.10.10.10 <br> * The children nodes of the master would be 10.10.10.1, 10.10.10.2, 10.10.10.3, 10.10.10.4 and 10.10.10.5 <br> * The children nodes of 10.10.10.1 would be 10.10.1.1, 10.10.2.1, 10.10.3.1, 10.10.4.1 and 10.10.5.1 <br> * * In RF24Network, the master is just 00 <br> * Children of master are 01,02,03,04,05 <br> * Children of 01 are 011,021,031,041,051 <br> * * @section Network Routing * * Routing of traffic is handled invisibly to the user, by the network layer. If the network addresses are * assigned in accordance with the physical layout of the network, nodes will route traffic automatically * as required. Users simply constuct a header containing the appropriate destination address, and the network * will forward it through to the correct node. Individual nodes only route individual fragments, so if using * fragmentation, routing nodes do not need it enabled, unless sending or receiving fragmented payloads themselves. * * If routing data between parent and child nodes (marked by direct links on the topology image above) the network * uses built-in acknowledgement and retry functions of the chip to prevent data loss. When payloads are sent to * other nodes, they need to be routed. Routing is managed using a combination of built in ACK requests, and * software driven network ACKs. This allows all routing nodes to forward data very quickly, with only the final * routing node confirming delivery and sending back an * acknowledgement. * * Example: Node 00 sends to node 01. The nodes will use the built in auto-retry and auto-ack functions.<br> * Example: Node 00 sends to node 011. Node 00 will send to node 01 as before. Node 01 will forward the message to * 011. If delivery was successful, node 01 will also forward a message back to node 00, indicating success. * * Old Functionality: Node 00 sends to node 011 using auto-ack. Node 00 first sends to 01, 01 acknowledges. * Node 01 forwards the payload to 011 using auto-ack. If the payload fails between 01 and 011, node 00 has * no way of knowing. * * @note When retrying failed payloads that have been routed, there is a chance of duplicate payloads if the network-ack * is not successful. In this case, it is left up to the user to manage retries and filtering of duplicate payloads. * * Acknowledgements can and should be managed by the application or user. If requesting a response from another node, * an acknowledgement is not required, so a user defined type of 0-64 should be used, to prevent the network from * responding with an acknowledgement. If not requesting a response, and wanting to know if the payload was successful * or not, users can utilize header types 65-127. * * @section TuningOverview Tuning Overview * The RF24 radio modules are generally only capable of either sending or receiving data at any given * time, but have built-in auto-retry mechanisms to prevent the loss of data. These values are adjusted * automatically by the library on startup, but can be further adjusted to reduce data loss, and * thus increase throughput of the network. This page is intended to provide a general overview of its * operation within the context of the network library, and provide guidance for adjusting these values. * * @section RetryTiming Auto-Retry Timing * * The core radio library provides the functionality of adjusting the internal auto-retry interval of the * radio modules. In the network configuration, the radios can be set to automatically retry failed * transmissions at intervals ranging anywhere from 500us (.5ms) up to 4000us (4ms). When operating any * number of radios larger than two, it is important to stagger the assigned intervals, to prevent the * radios from interfering with each other at the radio frequency (RF) layer. * * The library should provide fairly good working values, as it simply staggers the assigned values within * groups of radios in direct communication. This value can be set manually by calling radio.setRetries(X,15); * and adjusting the value of X from 1 to 15 (steps of 250us). * * @section AutoRetry Auto-Retry Count and Extended Timeouts * * The core radio library also provides the ability to adjust the internal auto-retry count of the radio * modules. The default setting is 15 automatic retries per payload, and can be extended by configuring * the network.txTimeout variable. This default retry count should generally be left at 15, as per the * example in the above section. An interval/retry setting of (15,15) will provide 15 retrys at intervals of * 4ms, taking up to 60ms per payload. The library now provides staggered timeout periods by default, but * they can also be adjusted on a per-node basis. * * The txTimeout variable is used to extend the retry count to a defined duration in milliseconds. See the * network.txTimeout variable. Timeout periods of extended duration (500+) will generally not help when payloads * are failing due to data collisions, it will only extend the duration of the errors. Extended duration timeouts * should generally only be configured on leaf nodes that do not receive data, or on a dual-headed node. * * @section Examples * * <b>Example 1:</b> Network with master node and three leaf nodes that send data to the master node. None of the leaf * nodes need to receive data. * * a: Master node uses default configuration<br> * b: Leaf nodes can be configured with extended timeout periods to ensure reception by the master.<br> * c: * @code * Leaf 01: network.txTimeout = 500; Leaf 02: network.txTimeout = 573; Leaf 03: network.txTimeout = 653; * @endcode * This configuration will provide a reduction in errors, as the timeouts have been extended, and are staggered * between devices. * * * <b>Example 2:</b> Network with master node and three leaf nodes that send data to the master node. The second leaf * node needs to receive configuration data from the master at set intervals of 1 second, and send data back to the * master node. The other leaf nodes will send basic sensor information every few seconds, and a few dropped payloads * will not affect the operation greatly. * * a: Master node configured with extended timeouts of .5 seconds, and increased retry delay: * @code * radio.setRetries(11,15); * network.txTimeout = 500; * @endcode * b: Second leaf node configured with a similar timeout period and retry delay: * @code * radio.setRetries(8,15); * network.txTimeout = 553; * @endcode * c: First and third leaf nodes configured with default timeout periods or slightly increased timout periods. * * @section DualHead Dual Headed Operation * * The library now supports a dual radio configuration to further enhance network performance, while reducing errors on * busy networks. Master nodes or relay nodes with a large number of child nodes can benefit somewhat from a dual headed * configuration, since one radio is used for receiving, and the other entirely for transmission. * * To configure a dual headed node: * 1. Edit the RF24Network_config.h file, and uncomment #define DUAL_HEAD_RADIO * 2. Connect another radio, using the same MOSI, MISO, and SCK lines. * 3. Choose another two pins to use for CE and CS on the second radio. Connect them. * 4. Setup the radio and network like so: * * @code * RF24 radio(7,8); // Using CE (7) and CS (8) for first radio * RF24 radio1(4,5); // Using CE (4) and CS (5) for second radio * RF24Network network(radio,radio1); // Set up the network using both radios * * Then in setup(), call radio.begin(); and radio1.begin(); before network.begin(); * @endcode * * 5. Upload to MCU. The node will now use the first radio to receive data, and radio1 to transmit, preventing data loss on a busy network. * 6. Re-comment the #define in the config file as required if configuring other single-headed radios. * * * Any node can be configured in dual-head mode. * * * * * @page Zigbee Comparison to ZigBee * * This network layer is influenced by the design of ZigBee, but does not implement it * directly. * * @section Advantage Which is better? * * ZigBee is a much more robust, feature-rich set of protocols, with many different vendors * providing compatible chips. * * RF24Network is cheap. While ZigBee radios are well over $20, nRF24L01 modules can be found * for under $2. My personal favorite is * <a href="http://www.mdfly.com/index.php?main_page=product_info&products_id=82">MDFly RF-IS2401</a>. * * @section Contrast Similiarities & Differences * * Here are some comparisons between RF24Network and ZigBee. * * @li Both networks support Star and Tree topologies. Only Zigbee supports a true mesh. * @li In ZigBee networks, only leaf nodes can sleep * @li ZigBee nodes are configured using AT commands, or a separate Windows application. * RF24 nodes are configured by recompiliing the firmware or writing to EEPROM. * * @section NodeNames Node Naming * * @li Leaf node: A node at the outer edge of the network with no children. ZigBee calls it * an End Device node. * @li Relay node: A node which has both parents and children, and relays messages from one * to the other. ZigBee calls it a Router. * @li Base node. The top of the tree node with no parents, only children. Typically this node * will bridge to another kind of network like Ethernet. ZigBee calls it a Co-ordinator node. * * * * */ #endif // __RF24NETWORK_H__