Only imu output
Fork of FYDP_Final2 by
drivers/nRF24L01P/nRF24L01P.cpp
- Committer:
- tntmarket
- Date:
- 2015-03-25
- Revision:
- 5:d2e955a94940
- Parent:
- 0:21019d94ad33
File content as of revision 5:d2e955a94940:
/** * @file nRF24L01P.cpp * * @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 */ /** * Includes */ #include "nRF24L01P.h" /** * Defines * * (Note that all defines here start with an underscore, e.g. '_NRF24L01P_MODE_UNKNOWN', * and are local to this library. The defines in the nRF24L01P.h file do not start * with the underscore, and can be used by code to access this library.) */ typedef enum { _NRF24L01P_MODE_UNKNOWN, _NRF24L01P_MODE_POWER_DOWN, _NRF24L01P_MODE_STANDBY, _NRF24L01P_MODE_RX, _NRF24L01P_MODE_TX, } nRF24L01P_Mode_Type; /* * The following FIFOs are present in nRF24L01+: * TX three level, 32 byte FIFO * RX three level, 32 byte FIFO */ #define _NRF24L01P_TX_FIFO_COUNT 3 #define _NRF24L01P_RX_FIFO_COUNT 3 #define _NRF24L01P_TX_FIFO_SIZE 32 #define _NRF24L01P_RX_FIFO_SIZE 32 #define _NRF24L01P_SPI_MAX_DATA_RATE 10000000 #define _NRF24L01P_SPI_CMD_RD_REG 0x00 #define _NRF24L01P_SPI_CMD_WR_REG 0x20 #define _NRF24L01P_SPI_CMD_RD_RX_PAYLOAD 0x61 #define _NRF24L01P_SPI_CMD_WR_TX_PAYLOAD 0xa0 #define _NRF24L01P_SPI_CMD_FLUSH_TX 0xe1 #define _NRF24L01P_SPI_CMD_FLUSH_RX 0xe2 #define _NRF24L01P_SPI_CMD_REUSE_TX_PL 0xe3 #define _NRF24L01P_SPI_CMD_R_RX_PL_WID 0x60 #define _NRF24L01P_SPI_CMD_W_ACK_PAYLOAD 0xa8 #define _NRF24L01P_SPI_CMD_W_TX_PYLD_NO_ACK 0xb0 #define _NRF24L01P_SPI_CMD_NOP 0xff #define _NRF24L01P_REG_CONFIG 0x00 #define _NRF24L01P_REG_EN_AA 0x01 #define _NRF24L01P_REG_EN_RXADDR 0x02 #define _NRF24L01P_REG_SETUP_AW 0x03 #define _NRF24L01P_REG_SETUP_RETR 0x04 #define _NRF24L01P_REG_RF_CH 0x05 #define _NRF24L01P_REG_RF_SETUP 0x06 #define _NRF24L01P_REG_STATUS 0x07 #define _NRF24L01P_REG_OBSERVE_TX 0x08 #define _NRF24L01P_REG_RPD 0x09 #define _NRF24L01P_REG_RX_ADDR_P0 0x0a #define _NRF24L01P_REG_RX_ADDR_P1 0x0b #define _NRF24L01P_REG_RX_ADDR_P2 0x0c #define _NRF24L01P_REG_RX_ADDR_P3 0x0d #define _NRF24L01P_REG_RX_ADDR_P4 0x0e #define _NRF24L01P_REG_RX_ADDR_P5 0x0f #define _NRF24L01P_REG_TX_ADDR 0x10 #define _NRF24L01P_REG_RX_PW_P0 0x11 #define _NRF24L01P_REG_RX_PW_P1 0x12 #define _NRF24L01P_REG_RX_PW_P2 0x13 #define _NRF24L01P_REG_RX_PW_P3 0x14 #define _NRF24L01P_REG_RX_PW_P4 0x15 #define _NRF24L01P_REG_RX_PW_P5 0x16 #define _NRF24L01P_REG_FIFO_STATUS 0x17 #define _NRF24L01P_REG_DYNPD 0x1c #define _NRF24L01P_REG_FEATURE 0x1d #define _NRF24L01P_REG_ADDRESS_MASK 0x1f // CONFIG register: #define _NRF24L01P_CONFIG_PRIM_RX (1<<0) #define _NRF24L01P_CONFIG_PWR_UP (1<<1) #define _NRF24L01P_CONFIG_CRC0 (1<<2) #define _NRF24L01P_CONFIG_EN_CRC (1<<3) #define _NRF24L01P_CONFIG_MASK_MAX_RT (1<<4) #define _NRF24L01P_CONFIG_MASK_TX_DS (1<<5) #define _NRF24L01P_CONFIG_MASK_RX_DR (1<<6) #define _NRF24L01P_CONFIG_CRC_MASK (_NRF24L01P_CONFIG_EN_CRC|_NRF24L01P_CONFIG_CRC0) #define _NRF24L01P_CONFIG_CRC_NONE (0) #define _NRF24L01P_CONFIG_CRC_8BIT (_NRF24L01P_CONFIG_EN_CRC) #define _NRF24L01P_CONFIG_CRC_16BIT (_NRF24L01P_CONFIG_EN_CRC|_NRF24L01P_CONFIG_CRC0) // EN_AA register: #define _NRF24L01P_EN_AA_NONE 0 // EN_RXADDR register: #define _NRF24L01P_EN_RXADDR_NONE 0 // SETUP_AW register: #define _NRF24L01P_SETUP_AW_AW_MASK (0x3<<0) #define _NRF24L01P_SETUP_AW_AW_3BYTE (0x1<<0) #define _NRF24L01P_SETUP_AW_AW_4BYTE (0x2<<0) #define _NRF24L01P_SETUP_AW_AW_5BYTE (0x3<<0) // SETUP_RETR register: #define _NRF24L01P_SETUP_RETR_NONE 0 // RF_SETUP register: #define _NRF24L01P_RF_SETUP_RF_PWR_MASK (0x3<<1) #define _NRF24L01P_RF_SETUP_RF_PWR_0DBM (0x3<<1) #define _NRF24L01P_RF_SETUP_RF_PWR_MINUS_6DBM (0x2<<1) #define _NRF24L01P_RF_SETUP_RF_PWR_MINUS_12DBM (0x1<<1) #define _NRF24L01P_RF_SETUP_RF_PWR_MINUS_18DBM (0x0<<1) #define _NRF24L01P_RF_SETUP_RF_DR_HIGH_BIT (1 << 3) #define _NRF24L01P_RF_SETUP_RF_DR_LOW_BIT (1 << 5) #define _NRF24L01P_RF_SETUP_RF_DR_MASK (_NRF24L01P_RF_SETUP_RF_DR_LOW_BIT|_NRF24L01P_RF_SETUP_RF_DR_HIGH_BIT) #define _NRF24L01P_RF_SETUP_RF_DR_250KBPS (_NRF24L01P_RF_SETUP_RF_DR_LOW_BIT) #define _NRF24L01P_RF_SETUP_RF_DR_1MBPS (0) #define _NRF24L01P_RF_SETUP_RF_DR_2MBPS (_NRF24L01P_RF_SETUP_RF_DR_HIGH_BIT) // STATUS register: #define _NRF24L01P_STATUS_TX_FULL (1<<0) #define _NRF24L01P_STATUS_RX_P_NO (0x7<<1) #define _NRF24L01P_STATUS_MAX_RT (1<<4) #define _NRF24L01P_STATUS_TX_DS (1<<5) #define _NRF24L01P_STATUS_RX_DR (1<<6) // RX_PW_P0..RX_PW_P5 registers: #define _NRF24L01P_RX_PW_Px_MASK 0x3F #define _NRF24L01P_TIMING_Tundef2pd_us 100000 // 100mS #define _NRF24L01P_TIMING_Tstby2a_us 130 // 130uS #define _NRF24L01P_TIMING_Thce_us 10 // 10uS #define _NRF24L01P_TIMING_Tpd2stby_us 4500 // 4.5mS worst case #define _NRF24L01P_TIMING_Tpece2csn_us 4 // 4uS /** * Methods */ nRF24L01P::nRF24L01P(PinName mosi, PinName miso, PinName sck, PinName csn, PinName ce, PinName irq) : spi_(mosi, miso, sck), nCS_(csn), ce_(ce), nIRQ_(irq) { mode = _NRF24L01P_MODE_UNKNOWN; disable(); nCS_ = 1; spi_.frequency(_NRF24L01P_SPI_MAX_DATA_RATE/5); // 2Mbit, 1/5th the maximum transfer rate for the SPI bus spi_.format(8,0); // 8-bit, ClockPhase = 0, ClockPolarity = 0 wait_us(_NRF24L01P_TIMING_Tundef2pd_us); // Wait for Power-on reset setRegister(_NRF24L01P_REG_CONFIG, 0); // Power Down setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_MAX_RT|_NRF24L01P_STATUS_TX_DS|_NRF24L01P_STATUS_RX_DR); // Clear any pending interrupts // // Setup default configuration // disableAllRxPipes(); setRfFrequency(); setRfOutputPower(); setAirDataRate(); setCrcWidth(); setTxAddress(); setRxAddress(); disableAutoAcknowledge(); disableAutoRetransmit(); setTransferSize(); mode = _NRF24L01P_MODE_POWER_DOWN; } void nRF24L01P::powerUp(void) { int config = getRegister(_NRF24L01P_REG_CONFIG); config |= _NRF24L01P_CONFIG_PWR_UP; setRegister(_NRF24L01P_REG_CONFIG, config); // Wait until the nRF24L01+ powers up wait_us( _NRF24L01P_TIMING_Tpd2stby_us ); mode = _NRF24L01P_MODE_STANDBY; } void nRF24L01P::powerDown(void) { int config = getRegister(_NRF24L01P_REG_CONFIG); config &= ~_NRF24L01P_CONFIG_PWR_UP; setRegister(_NRF24L01P_REG_CONFIG, config); // Wait until the nRF24L01+ powers down wait_us( _NRF24L01P_TIMING_Tpd2stby_us ); // This *may* not be necessary (no timing is shown in the Datasheet), but just to be safe mode = _NRF24L01P_MODE_POWER_DOWN; } void nRF24L01P::setReceiveMode(void) { if ( _NRF24L01P_MODE_POWER_DOWN == mode ) powerUp(); int config = getRegister(_NRF24L01P_REG_CONFIG); config |= _NRF24L01P_CONFIG_PRIM_RX; setRegister(_NRF24L01P_REG_CONFIG, config); mode = _NRF24L01P_MODE_RX; } void nRF24L01P::setTransmitMode(void) { if ( _NRF24L01P_MODE_POWER_DOWN == mode ) powerUp(); int config = getRegister(_NRF24L01P_REG_CONFIG); config &= ~_NRF24L01P_CONFIG_PRIM_RX; setRegister(_NRF24L01P_REG_CONFIG, config); mode = _NRF24L01P_MODE_TX; } void nRF24L01P::enable(void) { ce_ = 1; wait_us( _NRF24L01P_TIMING_Tpece2csn_us ); } void nRF24L01P::disable(void) { ce_ = 0; } void nRF24L01P::setRfFrequency(int frequency) { if ( ( frequency < NRF24L01P_MIN_RF_FREQUENCY ) || ( frequency > NRF24L01P_MAX_RF_FREQUENCY ) ) { error( "nRF24L01P: Invalid RF Frequency setting %d\r\n", frequency ); return; } int channel = ( frequency - NRF24L01P_MIN_RF_FREQUENCY ) & 0x7F; setRegister(_NRF24L01P_REG_RF_CH, channel); } int nRF24L01P::getRfFrequency(void) { int channel = getRegister(_NRF24L01P_REG_RF_CH) & 0x7F; return ( channel + NRF24L01P_MIN_RF_FREQUENCY ); } void nRF24L01P::setRfOutputPower(int power) { int rfSetup = getRegister(_NRF24L01P_REG_RF_SETUP) & ~_NRF24L01P_RF_SETUP_RF_PWR_MASK; switch ( power ) { case NRF24L01P_TX_PWR_ZERO_DB: rfSetup |= _NRF24L01P_RF_SETUP_RF_PWR_0DBM; break; case NRF24L01P_TX_PWR_MINUS_6_DB: rfSetup |= _NRF24L01P_RF_SETUP_RF_PWR_MINUS_6DBM; break; case NRF24L01P_TX_PWR_MINUS_12_DB: rfSetup |= _NRF24L01P_RF_SETUP_RF_PWR_MINUS_12DBM; break; case NRF24L01P_TX_PWR_MINUS_18_DB: rfSetup |= _NRF24L01P_RF_SETUP_RF_PWR_MINUS_18DBM; break; default: error( "nRF24L01P: Invalid RF Output Power setting %d\r\n", power ); return; } setRegister(_NRF24L01P_REG_RF_SETUP, rfSetup); } int nRF24L01P::getRfOutputPower(void) { int rfPwr = getRegister(_NRF24L01P_REG_RF_SETUP) & _NRF24L01P_RF_SETUP_RF_PWR_MASK; switch ( rfPwr ) { case _NRF24L01P_RF_SETUP_RF_PWR_0DBM: return NRF24L01P_TX_PWR_ZERO_DB; case _NRF24L01P_RF_SETUP_RF_PWR_MINUS_6DBM: return NRF24L01P_TX_PWR_MINUS_6_DB; case _NRF24L01P_RF_SETUP_RF_PWR_MINUS_12DBM: return NRF24L01P_TX_PWR_MINUS_12_DB; case _NRF24L01P_RF_SETUP_RF_PWR_MINUS_18DBM: return NRF24L01P_TX_PWR_MINUS_18_DB; default: error( "nRF24L01P: Unknown RF Output Power value %d\r\n", rfPwr ); return 0; } } void nRF24L01P::setAirDataRate(int rate) { int rfSetup = getRegister(_NRF24L01P_REG_RF_SETUP) & ~_NRF24L01P_RF_SETUP_RF_DR_MASK; switch ( rate ) { case NRF24L01P_DATARATE_250_KBPS: rfSetup |= _NRF24L01P_RF_SETUP_RF_DR_250KBPS; break; case NRF24L01P_DATARATE_1_MBPS: rfSetup |= _NRF24L01P_RF_SETUP_RF_DR_1MBPS; break; case NRF24L01P_DATARATE_2_MBPS: rfSetup |= _NRF24L01P_RF_SETUP_RF_DR_2MBPS; break; default: error( "nRF24L01P: Invalid Air Data Rate setting %d\r\n", rate ); return; } setRegister(_NRF24L01P_REG_RF_SETUP, rfSetup); } int nRF24L01P::getAirDataRate(void) { int rfDataRate = getRegister(_NRF24L01P_REG_RF_SETUP) & _NRF24L01P_RF_SETUP_RF_DR_MASK; switch ( rfDataRate ) { case _NRF24L01P_RF_SETUP_RF_DR_250KBPS: return NRF24L01P_DATARATE_250_KBPS; case _NRF24L01P_RF_SETUP_RF_DR_1MBPS: return NRF24L01P_DATARATE_1_MBPS; case _NRF24L01P_RF_SETUP_RF_DR_2MBPS: return NRF24L01P_DATARATE_2_MBPS; default: error( "nRF24L01P: Unknown Air Data Rate value %d\r\n", rfDataRate ); return 0; } } void nRF24L01P::setCrcWidth(int width) { int config = getRegister(_NRF24L01P_REG_CONFIG) & ~_NRF24L01P_CONFIG_CRC_MASK; switch ( width ) { case NRF24L01P_CRC_NONE: config |= _NRF24L01P_CONFIG_CRC_NONE; break; case NRF24L01P_CRC_8_BIT: config |= _NRF24L01P_CONFIG_CRC_8BIT; break; case NRF24L01P_CRC_16_BIT: config |= _NRF24L01P_CONFIG_CRC_16BIT; break; default: error( "nRF24L01P: Invalid CRC Width setting %d\r\n", width ); return; } setRegister(_NRF24L01P_REG_CONFIG, config); } int nRF24L01P::getCrcWidth(void) { int crcWidth = getRegister(_NRF24L01P_REG_CONFIG) & _NRF24L01P_CONFIG_CRC_MASK; switch ( crcWidth ) { case _NRF24L01P_CONFIG_CRC_NONE: return NRF24L01P_CRC_NONE; case _NRF24L01P_CONFIG_CRC_8BIT: return NRF24L01P_CRC_8_BIT; case _NRF24L01P_CONFIG_CRC_16BIT: return NRF24L01P_CRC_16_BIT; default: error( "nRF24L01P: Unknown CRC Width value %d\r\n", crcWidth ); return 0; } } void nRF24L01P::setTransferSize(int size, int pipe) { if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { error( "nRF24L01P: Invalid Transfer Size pipe number %d\r\n", pipe ); return; } if ( ( size < 0 ) || ( size > _NRF24L01P_RX_FIFO_SIZE ) ) { error( "nRF24L01P: Invalid Transfer Size setting %d\r\n", size ); return; } int rxPwPxRegister = _NRF24L01P_REG_RX_PW_P0 + ( pipe - NRF24L01P_PIPE_P0 ); setRegister(rxPwPxRegister, ( size & _NRF24L01P_RX_PW_Px_MASK ) ); } int nRF24L01P::getTransferSize(int pipe) { if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { error( "nRF24L01P: Invalid Transfer Size pipe number %d\r\n", pipe ); return 0; } int rxPwPxRegister = _NRF24L01P_REG_RX_PW_P0 + ( pipe - NRF24L01P_PIPE_P0 ); int size = getRegister(rxPwPxRegister); return ( size & _NRF24L01P_RX_PW_Px_MASK ); } void nRF24L01P::disableAllRxPipes(void) { setRegister(_NRF24L01P_REG_EN_RXADDR, _NRF24L01P_EN_RXADDR_NONE); } void nRF24L01P::disableAutoAcknowledge(void) { setRegister(_NRF24L01P_REG_EN_AA, _NRF24L01P_EN_AA_NONE); } void nRF24L01P::enableAutoAcknowledge(int pipe) { if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { error( "nRF24L01P: Invalid Enable AutoAcknowledge pipe number %d\r\n", pipe ); return; } int enAA = getRegister(_NRF24L01P_REG_EN_AA); enAA |= ( 1 << (pipe - NRF24L01P_PIPE_P0) ); setRegister(_NRF24L01P_REG_EN_AA, enAA); } void nRF24L01P::disableAutoRetransmit(void) { setRegister(_NRF24L01P_REG_SETUP_RETR, _NRF24L01P_SETUP_RETR_NONE); } void nRF24L01P::setRxAddress(unsigned long long address, int width, int pipe) { if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { error( "nRF24L01P: Invalid setRxAddress pipe number %d\r\n", pipe ); return; } if ( ( pipe == NRF24L01P_PIPE_P0 ) || ( pipe == NRF24L01P_PIPE_P1 ) ) { int setupAw = getRegister(_NRF24L01P_REG_SETUP_AW) & ~_NRF24L01P_SETUP_AW_AW_MASK; switch ( width ) { case 3: setupAw |= _NRF24L01P_SETUP_AW_AW_3BYTE; break; case 4: setupAw |= _NRF24L01P_SETUP_AW_AW_4BYTE; break; case 5: setupAw |= _NRF24L01P_SETUP_AW_AW_5BYTE; break; default: error( "nRF24L01P: Invalid setRxAddress width setting %d\r\n", width ); return; } setRegister(_NRF24L01P_REG_SETUP_AW, setupAw); } else { width = 1; } int rxAddrPxRegister = _NRF24L01P_REG_RX_ADDR_P0 + ( pipe - NRF24L01P_PIPE_P0 ); int cn = (_NRF24L01P_SPI_CMD_WR_REG | (rxAddrPxRegister & _NRF24L01P_REG_ADDRESS_MASK)); nCS_ = 0; int status = spi_.write(cn); while ( width-- > 0 ) { // // LSByte first // spi_.write((int) (address & 0xFF)); address >>= 8; } nCS_ = 1; int enRxAddr = getRegister(_NRF24L01P_REG_EN_RXADDR); enRxAddr |= (1 << ( pipe - NRF24L01P_PIPE_P0 ) ); setRegister(_NRF24L01P_REG_EN_RXADDR, enRxAddr); } /* * This version of setRxAddress is just a wrapper for the version that takes 'long long's, * in case the main code doesn't want to deal with long long's. */ void nRF24L01P::setRxAddress(unsigned long msb_address, unsigned long lsb_address, int width, int pipe) { unsigned long long address = ( ( (unsigned long long) msb_address ) << 32 ) | ( ( (unsigned long long) lsb_address ) << 0 ); setRxAddress(address, width, pipe); } /* * This version of setTxAddress is just a wrapper for the version that takes 'long long's, * in case the main code doesn't want to deal with long long's. */ void nRF24L01P::setTxAddress(unsigned long msb_address, unsigned long lsb_address, int width) { unsigned long long address = ( ( (unsigned long long) msb_address ) << 32 ) | ( ( (unsigned long long) lsb_address ) << 0 ); setTxAddress(address, width); } void nRF24L01P::setTxAddress(unsigned long long address, int width) { int setupAw = getRegister(_NRF24L01P_REG_SETUP_AW) & ~_NRF24L01P_SETUP_AW_AW_MASK; switch ( width ) { case 3: setupAw |= _NRF24L01P_SETUP_AW_AW_3BYTE; break; case 4: setupAw |= _NRF24L01P_SETUP_AW_AW_4BYTE; break; case 5: setupAw |= _NRF24L01P_SETUP_AW_AW_5BYTE; break; default: error( "nRF24L01P: Invalid setTxAddress width setting %d\r\n", width ); return; } setRegister(_NRF24L01P_REG_SETUP_AW, setupAw); int cn = (_NRF24L01P_SPI_CMD_WR_REG | (_NRF24L01P_REG_TX_ADDR & _NRF24L01P_REG_ADDRESS_MASK)); nCS_ = 0; int status = spi_.write(cn); while ( width-- > 0 ) { // // LSByte first // spi_.write((int) (address & 0xFF)); address >>= 8; } nCS_ = 1; } unsigned long long nRF24L01P::getRxAddress(int pipe) { if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { error( "nRF24L01P: Invalid setRxAddress pipe number %d\r\n", pipe ); return 0; } int width; if ( ( pipe == NRF24L01P_PIPE_P0 ) || ( pipe == NRF24L01P_PIPE_P1 ) ) { int setupAw = getRegister(_NRF24L01P_REG_SETUP_AW) & _NRF24L01P_SETUP_AW_AW_MASK; switch ( setupAw ) { case _NRF24L01P_SETUP_AW_AW_3BYTE: width = 3; break; case _NRF24L01P_SETUP_AW_AW_4BYTE: width = 4; break; case _NRF24L01P_SETUP_AW_AW_5BYTE: width = 5; break; default: error( "nRF24L01P: Unknown getRxAddress width value %d\r\n", setupAw ); return 0; } } else { width = 1; } int rxAddrPxRegister = _NRF24L01P_REG_RX_ADDR_P0 + ( pipe - NRF24L01P_PIPE_P0 ); int cn = (_NRF24L01P_SPI_CMD_RD_REG | (rxAddrPxRegister & _NRF24L01P_REG_ADDRESS_MASK)); unsigned long long address = 0; nCS_ = 0; int status = spi_.write(cn); for ( int i=0; i<width; i++ ) { // // LSByte first // address |= ( ( (unsigned long long)( spi_.write(_NRF24L01P_SPI_CMD_NOP) & 0xFF ) ) << (i*8) ); } nCS_ = 1; if ( !( ( pipe == NRF24L01P_PIPE_P0 ) || ( pipe == NRF24L01P_PIPE_P1 ) ) ) { address |= ( getRxAddress(NRF24L01P_PIPE_P1) & ~((unsigned long long) 0xFF) ); } return address; } unsigned long long nRF24L01P::getTxAddress(void) { int setupAw = getRegister(_NRF24L01P_REG_SETUP_AW) & _NRF24L01P_SETUP_AW_AW_MASK; int width; switch ( setupAw ) { case _NRF24L01P_SETUP_AW_AW_3BYTE: width = 3; break; case _NRF24L01P_SETUP_AW_AW_4BYTE: width = 4; break; case _NRF24L01P_SETUP_AW_AW_5BYTE: width = 5; break; default: error( "nRF24L01P: Unknown getTxAddress width value %d\r\n", setupAw ); return 0; } int cn = (_NRF24L01P_SPI_CMD_RD_REG | (_NRF24L01P_REG_TX_ADDR & _NRF24L01P_REG_ADDRESS_MASK)); unsigned long long address = 0; nCS_ = 0; int status = spi_.write(cn); for ( int i=0; i<width; i++ ) { // // LSByte first // address |= ( ( (unsigned long long)( spi_.write(_NRF24L01P_SPI_CMD_NOP) & 0xFF ) ) << (i*8) ); } nCS_ = 1; return address; } bool nRF24L01P::readable(int pipe) { if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { error( "nRF24L01P: Invalid readable pipe number %d\r\n", pipe ); return false; } int status = getStatusRegister(); return ( ( status & _NRF24L01P_STATUS_RX_DR ) && ( ( ( status & _NRF24L01P_STATUS_RX_P_NO ) >> 1 ) == ( pipe & 0x7 ) ) ); } int nRF24L01P::write(int pipe, char *data, int count) { // Note: the pipe number is ignored in a Transmit / write // // Save the CE state // int originalCe = ce_; disable(); if ( count <= 0 ) return 0; if ( count > _NRF24L01P_TX_FIFO_SIZE ) count = _NRF24L01P_TX_FIFO_SIZE; // Clear the Status bit setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_TX_DS); nCS_ = 0; int status = spi_.write(_NRF24L01P_SPI_CMD_WR_TX_PAYLOAD); for ( int i = 0; i < count; i++ ) { spi_.write(*data++); } nCS_ = 1; int originalMode = mode; setTransmitMode(); enable(); wait_us(_NRF24L01P_TIMING_Thce_us); disable(); while ( !( getStatusRegister() & _NRF24L01P_STATUS_TX_DS ) ) { // Wait for the transfer to complete } // Clear the Status bit setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_TX_DS); if ( originalMode == _NRF24L01P_MODE_RX ) { setReceiveMode(); } ce_ = originalCe; wait_us( _NRF24L01P_TIMING_Tpece2csn_us ); return count; } int nRF24L01P::read(int pipe, char *data, int count) { if ( ( pipe < NRF24L01P_PIPE_P0 ) || ( pipe > NRF24L01P_PIPE_P5 ) ) { error( "nRF24L01P: Invalid read pipe number %d\r\n", pipe ); return -1; } if ( count <= 0 ) return 0; if ( count > _NRF24L01P_RX_FIFO_SIZE ) count = _NRF24L01P_RX_FIFO_SIZE; if ( readable(pipe) ) { nCS_ = 0; int status = spi_.write(_NRF24L01P_SPI_CMD_R_RX_PL_WID); int rxPayloadWidth = spi_.write(_NRF24L01P_SPI_CMD_NOP); nCS_ = 1; if ( ( rxPayloadWidth < 0 ) || ( rxPayloadWidth > _NRF24L01P_RX_FIFO_SIZE ) ) { // Received payload error: need to flush the FIFO nCS_ = 0; int status = spi_.write(_NRF24L01P_SPI_CMD_FLUSH_RX); int rxPayloadWidth = spi_.write(_NRF24L01P_SPI_CMD_NOP); nCS_ = 1; // // At this point, we should retry the reception, // but for now we'll just fall through... // } else { if ( rxPayloadWidth < count ) count = rxPayloadWidth; nCS_ = 0; int status = spi_.write(_NRF24L01P_SPI_CMD_RD_RX_PAYLOAD); for ( int i = 0; i < count; i++ ) { *data++ = spi_.write(_NRF24L01P_SPI_CMD_NOP); } nCS_ = 1; // Clear the Status bit setRegister(_NRF24L01P_REG_STATUS, _NRF24L01P_STATUS_RX_DR); return count; } } else { // // What should we do if there is no 'readable' data? // We could wait for data to arrive, but for now, we'll // just return with no data. // return 0; } // // We get here because an error condition occured; // We could wait for data to arrive, but for now, we'll // just return with no data. // return -1; } void nRF24L01P::setRegister(int regAddress, int regData) { // // Save the CE state // int originalCe = ce_; disable(); int cn = (_NRF24L01P_SPI_CMD_WR_REG | (regAddress & _NRF24L01P_REG_ADDRESS_MASK)); nCS_ = 0; int status = spi_.write(cn); spi_.write(regData & 0xFF); nCS_ = 1; ce_ = originalCe; wait_us( _NRF24L01P_TIMING_Tpece2csn_us ); } int nRF24L01P::getRegister(int regAddress) { int cn = (_NRF24L01P_SPI_CMD_RD_REG | (regAddress & _NRF24L01P_REG_ADDRESS_MASK)); nCS_ = 0; int status = spi_.write(cn); int dn = spi_.write(_NRF24L01P_SPI_CMD_NOP); nCS_ = 1; return dn; } int nRF24L01P::getStatusRegister(void) { nCS_ = 0; int status = spi_.write(_NRF24L01P_SPI_CMD_NOP); nCS_ = 1; return status; }