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rlogiacco/PingPong.cpp

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PingPong nRF24L01+ example for Spark Core using pins 5 CE and 6 CSN
Raw
PingPong.cpp
#ifndef Binary_h
#define Binary_h
#define B0 0
#define B00 0
#define B000 0
#define B0000 0
#define B00000 0
#define B000000 0
#define B0000000 0
#define B00000000 0
#define B1 1
#define B01 1
#define B001 1
#define B0001 1
#define B00001 1
#define B000001 1
#define B0000001 1
#define B00000001 1
#define B10 2
#define B010 2
#define B0010 2
#define B00010 2
#define B000010 2
#define B0000010 2
#define B00000010 2
#define B11 3
#define B011 3
#define B0011 3
#define B00011 3
#define B000011 3
#define B0000011 3
#define B00000011 3
#define B100 4
#define B0100 4
#define B00100 4
#define B000100 4
#define B0000100 4
#define B00000100 4
#define B101 5
#define B0101 5
#define B00101 5
#define B000101 5
#define B0000101 5
#define B00000101 5
#define B110 6
#define B0110 6
#define B00110 6
#define B000110 6
#define B0000110 6
#define B00000110 6
#define B111 7
#define B0111 7
#define B00111 7
#define B000111 7
#define B0000111 7
#define B00000111 7
#define B1000 8
#define B01000 8
#define B001000 8
#define B0001000 8
#define B00001000 8
#define B1001 9
#define B01001 9
#define B001001 9
#define B0001001 9
#define B00001001 9
#define B1010 10
#define B01010 10
#define B001010 10
#define B0001010 10
#define B00001010 10
#define B1011 11
#define B01011 11
#define B001011 11
#define B0001011 11
#define B00001011 11
#define B1100 12
#define B01100 12
#define B001100 12
#define B0001100 12
#define B00001100 12
#define B1101 13
#define B01101 13
#define B001101 13
#define B0001101 13
#define B00001101 13
#define B1110 14
#define B01110 14
#define B001110 14
#define B0001110 14
#define B00001110 14
#define B1111 15
#define B01111 15
#define B001111 15
#define B0001111 15
#define B00001111 15
#define B10000 16
#define B010000 16
#define B0010000 16
#define B00010000 16
#define B10001 17
#define B010001 17
#define B0010001 17
#define B00010001 17
#define B10010 18
#define B010010 18
#define B0010010 18
#define B00010010 18
#define B10011 19
#define B010011 19
#define B0010011 19
#define B00010011 19
#define B10100 20
#define B010100 20
#define B0010100 20
#define B00010100 20
#define B10101 21
#define B010101 21
#define B0010101 21
#define B00010101 21
#define B10110 22
#define B010110 22
#define B0010110 22
#define B00010110 22
#define B10111 23
#define B010111 23
#define B0010111 23
#define B00010111 23
#define B11000 24
#define B011000 24
#define B0011000 24
#define B00011000 24
#define B11001 25
#define B011001 25
#define B0011001 25
#define B00011001 25
#define B11010 26
#define B011010 26
#define B0011010 26
#define B00011010 26
#define B11011 27
#define B011011 27
#define B0011011 27
#define B00011011 27
#define B11100 28
#define B011100 28
#define B0011100 28
#define B00011100 28
#define B11101 29
#define B011101 29
#define B0011101 29
#define B00011101 29
#define B11110 30
#define B011110 30
#define B0011110 30
#define B00011110 30
#define B11111 31
#define B011111 31
#define B0011111 31
#define B00011111 31
#define B100000 32
#define B0100000 32
#define B00100000 32
#define B100001 33
#define B0100001 33
#define B00100001 33
#define B100010 34
#define B0100010 34
#define B00100010 34
#define B100011 35
#define B0100011 35
#define B00100011 35
#define B100100 36
#define B0100100 36
#define B00100100 36
#define B100101 37
#define B0100101 37
#define B00100101 37
#define B100110 38
#define B0100110 38
#define B00100110 38
#define B100111 39
#define B0100111 39
#define B00100111 39
#define B101000 40
#define B0101000 40
#define B00101000 40
#define B101001 41
#define B0101001 41
#define B00101001 41
#define B101010 42
#define B0101010 42
#define B00101010 42
#define B101011 43
#define B0101011 43
#define B00101011 43
#define B101100 44
#define B0101100 44
#define B00101100 44
#define B101101 45
#define B0101101 45
#define B00101101 45
#define B101110 46
#define B0101110 46
#define B00101110 46
#define B101111 47
#define B0101111 47
#define B00101111 47
#define B110000 48
#define B0110000 48
#define B00110000 48
#define B110001 49
#define B0110001 49
#define B00110001 49
#define B110010 50
#define B0110010 50
#define B00110010 50
#define B110011 51
#define B0110011 51
#define B00110011 51
#define B110100 52
#define B0110100 52
#define B00110100 52
#define B110101 53
#define B0110101 53
#define B00110101 53
#define B110110 54
#define B0110110 54
#define B00110110 54
#define B110111 55
#define B0110111 55
#define B00110111 55
#define B111000 56
#define B0111000 56
#define B00111000 56
#define B111001 57
#define B0111001 57
#define B00111001 57
#define B111010 58
#define B0111010 58
#define B00111010 58
#define B111011 59
#define B0111011 59
#define B00111011 59
#define B111100 60
#define B0111100 60
#define B00111100 60
#define B111101 61
#define B0111101 61
#define B00111101 61
#define B111110 62
#define B0111110 62
#define B00111110 62
#define B111111 63
#define B0111111 63
#define B00111111 63
#define B1000000 64
#define B01000000 64
#define B1000001 65
#define B01000001 65
#define B1000010 66
#define B01000010 66
#define B1000011 67
#define B01000011 67
#define B1000100 68
#define B01000100 68
#define B1000101 69
#define B01000101 69
#define B1000110 70
#define B01000110 70
#define B1000111 71
#define B01000111 71
#define B1001000 72
#define B01001000 72
#define B1001001 73
#define B01001001 73
#define B1001010 74
#define B01001010 74
#define B1001011 75
#define B01001011 75
#define B1001100 76
#define B01001100 76
#define B1001101 77
#define B01001101 77
#define B1001110 78
#define B01001110 78
#define B1001111 79
#define B01001111 79
#define B1010000 80
#define B01010000 80
#define B1010001 81
#define B01010001 81
#define B1010010 82
#define B01010010 82
#define B1010011 83
#define B01010011 83
#define B1010100 84
#define B01010100 84
#define B1010101 85
#define B01010101 85
#define B1010110 86
#define B01010110 86
#define B1010111 87
#define B01010111 87
#define B1011000 88
#define B01011000 88
#define B1011001 89
#define B01011001 89
#define B1011010 90
#define B01011010 90
#define B1011011 91
#define B01011011 91
#define B1011100 92
#define B01011100 92
#define B1011101 93
#define B01011101 93
#define B1011110 94
#define B01011110 94
#define B1011111 95
#define B01011111 95
#define B1100000 96
#define B01100000 96
#define B1100001 97
#define B01100001 97
#define B1100010 98
#define B01100010 98
#define B1100011 99
#define B01100011 99
#define B1100100 100
#define B01100100 100
#define B1100101 101
#define B01100101 101
#define B1100110 102
#define B01100110 102
#define B1100111 103
#define B01100111 103
#define B1101000 104
#define B01101000 104
#define B1101001 105
#define B01101001 105
#define B1101010 106
#define B01101010 106
#define B1101011 107
#define B01101011 107
#define B1101100 108
#define B01101100 108
#define B1101101 109
#define B01101101 109
#define B1101110 110
#define B01101110 110
#define B1101111 111
#define B01101111 111
#define B1110000 112
#define B01110000 112
#define B1110001 113
#define B01110001 113
#define B1110010 114
#define B01110010 114
#define B1110011 115
#define B01110011 115
#define B1110100 116
#define B01110100 116
#define B1110101 117
#define B01110101 117
#define B1110110 118
#define B01110110 118
#define B1110111 119
#define B01110111 119
#define B1111000 120
#define B01111000 120
#define B1111001 121
#define B01111001 121
#define B1111010 122
#define B01111010 122
#define B1111011 123
#define B01111011 123
#define B1111100 124
#define B01111100 124
#define B1111101 125
#define B01111101 125
#define B1111110 126
#define B01111110 126
#define B1111111 127
#define B01111111 127
#define B10000000 128
#define B10000001 129
#define B10000010 130
#define B10000011 131
#define B10000100 132
#define B10000101 133
#define B10000110 134
#define B10000111 135
#define B10001000 136
#define B10001001 137
#define B10001010 138
#define B10001011 139
#define B10001100 140
#define B10001101 141
#define B10001110 142
#define B10001111 143
#define B10010000 144
#define B10010001 145
#define B10010010 146
#define B10010011 147
#define B10010100 148
#define B10010101 149
#define B10010110 150
#define B10010111 151
#define B10011000 152
#define B10011001 153
#define B10011010 154
#define B10011011 155
#define B10011100 156
#define B10011101 157
#define B10011110 158
#define B10011111 159
#define B10100000 160
#define B10100001 161
#define B10100010 162
#define B10100011 163
#define B10100100 164
#define B10100101 165
#define B10100110 166
#define B10100111 167
#define B10101000 168
#define B10101001 169
#define B10101010 170
#define B10101011 171
#define B10101100 172
#define B10101101 173
#define B10101110 174
#define B10101111 175
#define B10110000 176
#define B10110001 177
#define B10110010 178
#define B10110011 179
#define B10110100 180
#define B10110101 181
#define B10110110 182
#define B10110111 183
#define B10111000 184
#define B10111001 185
#define B10111010 186
#define B10111011 187
#define B10111100 188
#define B10111101 189
#define B10111110 190
#define B10111111 191
#define B11000000 192
#define B11000001 193
#define B11000010 194
#define B11000011 195
#define B11000100 196
#define B11000101 197
#define B11000110 198
#define B11000111 199
#define B11001000 200
#define B11001001 201
#define B11001010 202
#define B11001011 203
#define B11001100 204
#define B11001101 205
#define B11001110 206
#define B11001111 207
#define B11010000 208
#define B11010001 209
#define B11010010 210
#define B11010011 211
#define B11010100 212
#define B11010101 213
#define B11010110 214
#define B11010111 215
#define B11011000 216
#define B11011001 217
#define B11011010 218
#define B11011011 219
#define B11011100 220
#define B11011101 221
#define B11011110 222
#define B11011111 223
#define B11100000 224
#define B11100001 225
#define B11100010 226
#define B11100011 227
#define B11100100 228
#define B11100101 229
#define B11100110 230
#define B11100111 231
#define B11101000 232
#define B11101001 233
#define B11101010 234
#define B11101011 235
#define B11101100 236
#define B11101101 237
#define B11101110 238
#define B11101111 239
#define B11110000 240
#define B11110001 241
#define B11110010 242
#define B11110011 243
#define B11110100 244
#define B11110101 245
#define B11110110 246
#define B11110111 247
#define B11111000 248
#define B11111001 249
#define B11111010 250
#define B11111011 251
#define B11111100 252
#define B11111101 253
#define B11111110 254
#define B11111111 255
#endif
#ifndef __RF24_H__
#define __RF24_H__
///include <RF24_config.h>
#ifndef __RF24_CONFIG_H__
#define __RF24_CONFIG_H__
/// if ARDUINO < 100
/// include <WProgram.h>
/// else
///include <Arduino.h>
#define ARDUINO_H
#include <stdint.h>
#include <stddef.h>
#include <stdlib.h>
#define pgm_read_byte(x) (*(x))
/// endif
#include <stddef.h>
// Stuff that is normally provided by Arduino
///ifdef ARDUINO
///include <SPI.h>
///else
///include <stdint.h>
///include <stdio.h>
///include <string.h>
///extern HardwareSPI SPI;
#define _BV(x) (1<<(x))
///endif
#undef SERIAL_DEBUG
#ifdef SERIAL_DEBUG
#define IF_SERIAL_DEBUG(x) ({x;})
#else
#define IF_SERIAL_DEBUG(x)
#endif
// Avoid spurious warnings
///if 1
///if ! defined( NATIVE ) && defined( ARDUINO )
///undef PROGMEM
///define PROGMEM __attribute__(( section(".progmem.data") ))
///undef PSTR
///define PSTR(s) (__extension__({static const char __c[] PROGMEM = (s); &__c[0];}))
///endif
///endif
// Progmem is Arduino-specific
///ifdef ARDUINO
///include <avr/pgmspace.h>
///define PRIPSTR "%S"
///else
///typedef char const char;
typedef uint16_t prog_uint16_t;
#define PSTR(x) x
#define printf_P printf
#define strlen_P strlen
#define PROGMEM
#define pgm_read_word(p) (*(p))
#define PRIPSTR "%s"
///endif
#endif // __RF24_CONFIG_H__
/* Memory Map */
#define CONFIG 0x00
#define EN_AA 0x01
#define EN_RXADDR 0x02
#define SETUP_AW 0x03
#define SETUP_RETR 0x04
#define RF_CH 0x05
#define RF_SETUP 0x06
#define STATUS 0x07
#define OBSERVE_TX 0x08
#define CD 0x09
#define RX_ADDR_P0 0x0A
#define RX_ADDR_P1 0x0B
#define RX_ADDR_P2 0x0C
#define RX_ADDR_P3 0x0D
#define RX_ADDR_P4 0x0E
#define RX_ADDR_P5 0x0F
#define TX_ADDR 0x10
#define RX_PW_P0 0x11
#define RX_PW_P1 0x12
#define RX_PW_P2 0x13
#define RX_PW_P3 0x14
#define RX_PW_P4 0x15
#define RX_PW_P5 0x16
#define FIFO_STATUS 0x17
#define DYNPD 0x1C
#define FEATURE 0x1D
/* Bit Mnemonics */
#define MASK_RX_DR 6
#define MASK_TX_DS 5
#define MASK_MAX_RT 4
#define EN_CRC 3
#define CRCO 2
#define PWR_UP 1
#define PRIM_RX 0
#define ENAA_P5 5
#define ENAA_P4 4
#define ENAA_P3 3
#define ENAA_P2 2
#define ENAA_P1 1
#define ENAA_P0 0
#define ERX_P5 5
#define ERX_P4 4
#define ERX_P3 3
#define ERX_P2 2
#define ERX_P1 1
#define ERX_P0 0
#define AW 0
#define ARD 4
#define ARC 0
#define PLL_LOCK 4
#define RF_DR 3
#define RF_PWR 6
#define RX_DR 6
#define TX_DS 5
#define MAX_RT 4
#define RX_P_NO 1
#define TX_FULL 0
#define PLOS_CNT 4
#define ARC_CNT 0
#define TX_REUSE 6
#define FIFO_FULL 5
#define TX_EMPTY 4
#define RX_FULL 1
#define RX_EMPTY 0
#define DPL_P5 5
#define DPL_P4 4
#define DPL_P3 3
#define DPL_P2 2
#define DPL_P1 1
#define DPL_P0 0
#define EN_DPL 2
#define EN_ACK_PAY 1
#define EN_DYN_ACK 0
/* Instruction Mnemonics */
#define R_REGISTER 0x00
#define W_REGISTER 0x20
#define REGISTER_MASK 0x1F
#define ACTIVATE 0x50
#define R_RX_PL_WID 0x60
#define R_RX_PAYLOAD 0x61
#define W_TX_PAYLOAD 0xA0
#define W_ACK_PAYLOAD 0xA8
#define FLUSH_TX 0xE1
#define FLUSH_RX 0xE2
#define REUSE_TX_PL 0xE3
#define NOP 0xFF
/* Non-P omissions */
#define LNA_HCURR 0
/* P model memory Map */
#define RPD 0x09
/* P model bit Mnemonics */
#define RF_DR_LOW 5
#define RF_DR_HIGH 3
#define RF_PWR_LOW 1
#define RF_PWR_HIGH 2
/**
* Power Amplifier level.
*
* For use with setPALevel()
*/
typedef enum { RF24_PA_MIN = 0,RF24_PA_LOW, RF24_PA_HIGH, RF24_PA_MAX, RF24_PA_ERROR } rf24_pa_dbm_e ;
/**
* Data rate. How fast data moves through the air.
*
* For use with setDataRate()
*/
typedef enum { RF24_1MBPS = 0, RF24_2MBPS, RF24_250KBPS } rf24_datarate_e;
/**
* CRC Length. How big (if any) of a CRC is included.
*
* For use with setCRCLength()
*/
typedef enum { RF24_CRC_DISABLED = 0, RF24_CRC_8, RF24_CRC_16 } rf24_crclength_e;
/**
* Driver for nRF24L01(+) 2.4GHz Wireless Transceiver
*/
class RF24
{
private:
uint8_t ce_pin; /**< "Chip Enable" pin, activates the RX or TX role */
uint8_t csn_pin; /**< SPI Chip select */
bool wide_band; /* 2Mbs data rate in use? */
bool p_variant; /* False for RF24L01 and true for RF24L01P */
uint8_t payload_size; /**< Fixed size of payloads */
bool ack_payload_available; /**< Whether there is an ack payload waiting */
bool dynamic_payloads_enabled; /**< Whether dynamic payloads are enabled. */
uint8_t ack_payload_length; /**< Dynamic size of pending ack payload. */
uint64_t pipe0_reading_address; /**< Last address set on pipe 0 for reading. */
protected:
/**
* @name Low-level internal interface.
*
* Protected methods that address the chip directly. Regular users cannot
* ever call these. They are documented for completeness and for developers who
* may want to extend this class.
*/
/**@{*/
/**
* Set chip select pin
*
* Running SPI bus at PI_CLOCK_DIV2 so we don't waste time transferring data
* and best of all, we make use of the radio's FIFO buffers. A lower speed
* means we're less likely to effectively leverage our FIFOs and pay a higher
* AVR runtime cost as toll.
*
* @param mode HIGH to take this unit off the SPI bus, LOW to put it on
*/
void csn(int mode);
/**
* Set chip enable
*
* @param level HIGH to actively begin transmission or LOW to put in standby. Please see data sheet
* for a much more detailed description of this pin.
*/
void ce(int level);
/**
* Read a chunk of data in from a register
*
* @param reg Which register. Use constants from nRF24L01.h
* @param buf Where to put the data
* @param len How many bytes of data to transfer
* @return Current value of status register
*/
uint8_t read_register(uint8_t reg, uint8_t* buf, uint8_t len);
/**
* Read single byte from a register
*
* @param reg Which register. Use constants from nRF24L01.h
* @return Current value of register @p reg
*/
uint8_t read_register(uint8_t reg);
/**
* Write a chunk of data to a register
*
* @param reg Which register. Use constants from nRF24L01.h
* @param buf Where to get the data
* @param len How many bytes of data to transfer
* @return Current value of status register
*/
uint8_t write_register(uint8_t reg, const uint8_t* buf, uint8_t len);
/**
* Write a single byte to a register
*
* @param reg Which register. Use constants from nRF24L01.h
* @param value The new value to write
* @return Current value of status register
*/
uint8_t write_register(uint8_t reg, uint8_t value);
/**
* Write the transmit payload
*
* The size of data written is the fixed payload size, see getPayloadSize()
*
* @param buf Where to get the data
* @param len Number of bytes to be sent
* @return Current value of status register
*/
uint8_t write_payload(const void* buf, uint8_t len);
/**
* Read the receive payload
*
* The size of data read is the fixed payload size, see getPayloadSize()
*
* @param buf Where to put the data
* @param len Maximum number of bytes to read
* @return Current value of status register
*/
uint8_t read_payload(void* buf, uint8_t len);
/**
* Empty the receive buffer
*
* @return Current value of status register
*/
uint8_t flush_rx(void);
/**
* Empty the transmit buffer
*
* @return Current value of status register
*/
uint8_t flush_tx(void);
/**
* Retrieve the current status of the chip
*
* @return Current value of status register
*/
uint8_t get_status(void);
/**
* Decode and print the given status to stdout
*
* @param status Status value to print
*
* @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
*/
void print_status(uint8_t status);
/**
* Decode and print the given 'observe_tx' value to stdout
*
* @param value The observe_tx value to print
*
* @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
*/
void print_observe_tx(uint8_t value);
/**
* Print the name and value of an 8-bit register to stdout
*
* Optionally it can print some quantity of successive
* registers on the same line. This is useful for printing a group
* of related registers on one line.
*
* @param name Name of the register
* @param reg Which register. Use constants from nRF24L01.h
* @param qty How many successive registers to print
*/
void print_byte_register(const char* name, uint8_t reg, uint8_t qty = 1);
/**
* Print the name and value of a 40-bit address register to stdout
*
* Optionally it can print some quantity of successive
* registers on the same line. This is useful for printing a group
* of related registers on one line.
*
* @param name Name of the register
* @param reg Which register. Use constants from nRF24L01.h
* @param qty How many successive registers to print
*/
void print_address_register(const char* name, uint8_t reg, uint8_t qty = 1);
/**
* Turn on or off the special features of the chip
*
* The chip has certain 'features' which are only available when the 'features'
* are enabled. See the datasheet for details.
*/
void toggle_features(void);
/**@}*/
public:
/**
* @name Primary public interface
*
* These are the main methods you need to operate the chip
*/
/**@{*/
/**
* Constructor
*
* Creates a new instance of this driver. Before using, you create an instance
* and send in the unique pins that this chip is connected to.
*
* @param _cepin The pin attached to Chip Enable on the RF module
* @param _cspin The pin attached to Chip Select
*/
RF24(uint8_t _cepin, uint8_t _cspin);
/**
* Begin operation of the chip
*
* Call this in setup(), before calling any other methods.
*/
void begin(void);
/**
* Start listening on the pipes opened for reading.
*
* Be sure to call openReadingPipe() first. Do not call write() while
* in this mode, without first calling stopListening(). Call
* isAvailable() to check for incoming traffic, and read() to get it.
*/
void startListening(void);
/**
* Stop listening for incoming messages
*
* Do this before calling write().
*/
void stopListening(void);
/**
* Write to the open writing pipe
*
* Be sure to call openWritingPipe() first to set the destination
* of where to write to.
*
* This blocks until the message is successfully acknowledged by
* the receiver or the timeout/retransmit maxima are reached. In
* the current configuration, the max delay here is 60ms.
*
* The maximum size of data written is the fixed payload size, see
* getPayloadSize(). However, you can write less, and the remainder
* will just be filled with zeroes.
*
* @param buf Pointer to the data to be sent
* @param len Number of bytes to be sent
* @return True if the payload was delivered successfully false if not
*/
bool write( const void* buf, uint8_t len );
/**
* Test whether there are bytes available to be read
*
* @return True if there is a payload available, false if none is
*/
bool available(void);
/**
* Read the payload
*
* Return the last payload received
*
* The size of data read is the fixed payload size, see getPayloadSize()
*
* @note I specifically chose 'void*' as a data type to make it easier
* for beginners to use. No casting needed.
*
* @param buf Pointer to a buffer where the data should be written
* @param len Maximum number of bytes to read into the buffer
* @return True if the payload was delivered successfully false if not
*/
bool read( void* buf, uint8_t len );
/**
* Open a pipe for writing
*
* Only one pipe can be open at once, but you can change the pipe
* you'll listen to. Do not call this while actively listening.
* Remember to stopListening() first.
*
* Addresses are 40-bit hex values, e.g.:
*
* @code
* openWritingPipe(0xF0F0F0F0F0);
* @endcode
*
* @param address The 40-bit address of the pipe to open. This can be
* any value whatsoever, as long as you are the only one writing to it
* and only one other radio is listening to it. Coordinate these pipe
* addresses amongst nodes on the network.
*/
void openWritingPipe(uint64_t address);
/**
* Open a pipe for reading
*
* Up to 6 pipes can be open for reading at once. Open all the
* reading pipes, and then call startListening().
*
* @see openWritingPipe
*
* @warning Pipes 1-5 should share the first 32 bits.
* Only the least significant byte should be unique, e.g.
* @code
* openReadingPipe(1,0xF0F0F0F0AA);
* openReadingPipe(2,0xF0F0F0F066);
* @endcode
*
* @warning Pipe 0 is also used by the writing pipe. So if you open
* pipe 0 for reading, and then startListening(), it will overwrite the
* writing pipe. Ergo, do an openWritingPipe() again before write().
*
* @todo Enforce the restriction that pipes 1-5 must share the top 32 bits
*
* @param number Which pipe# to open, 0-5.
* @param address The 40-bit address of the pipe to open.
*/
void openReadingPipe(uint8_t number, uint64_t address);
/**@}*/
/**
* @name Optional Configurators
*
* Methods you can use to get or set the configuration of the chip.
* None are required. Calling begin() sets up a reasonable set of
* defaults.
*/
/**@{*/
/**
* Set the number and delay of retries upon failed submit
*
* @param delay How long to wait between each retry, in multiples of 250us,
* max is 15. 0 means 250us, 15 means 4000us.
* @param count How many retries before giving up, max 15
*/
void setRetries(uint8_t delay, uint8_t count);
/**
* Set RF communication channel
*
* @param channel Which RF channel to communicate on, 0-127
*/
void setChannel(uint8_t channel);
/**
* Set Static Payload Size
*
* This implementation uses a pre-stablished fixed payload size for all
* transmissions. If this method is never called, the driver will always
* transmit the maximum payload size (32 bytes), no matter how much
* was sent to write().
*
* @todo Implement variable-sized payloads feature
*
* @param size The number of bytes in the payload
*/
void setPayloadSize(uint8_t size);
/**
* Get Static Payload Size
*
* @see setPayloadSize()
*
* @return The number of bytes in the payload
*/
uint8_t getPayloadSize(void);
/**
* Get Dynamic Payload Size
*
* For dynamic payloads, this pulls the size of the payload off
* the chip
*
* @return Payload length of last-received dynamic payload
*/
uint8_t getDynamicPayloadSize(void);
/**
* Enable custom payloads on the acknowledge packets
*
* Ack payloads are a handy way to return data back to senders without
* manually changing the radio modes on both units.
*
* @see examples/pingpair_pl/pingpair_pl.pde
*/
void enableAckPayload(void);
/**
* Enable dynamically-sized payloads
*
* This way you don't always have to send large packets just to send them
* once in a while. This enables dynamic payloads on ALL pipes.
*
* @see examples/pingpair_pl/pingpair_dyn.pde
*/
void enableDynamicPayloads(void);
/**
* Determine whether the hardware is an nRF24L01+ or not.
*
* @return true if the hardware is nRF24L01+ (or compatible) and false
* if its not.
*/
bool isPVariant(void) ;
/**
* Enable or disable auto-acknowlede packets
*
* This is enabled by default, so it's only needed if you want to turn
* it off for some reason.
*
* @param enable Whether to enable (true) or disable (false) auto-acks
*/
void setAutoAck(bool enable);
/**
* Enable or disable auto-acknowlede packets on a per pipeline basis.
*
* AA is enabled by default, so it's only needed if you want to turn
* it off/on for some reason on a per pipeline basis.
*
* @param pipe Which pipeline to modify
* @param enable Whether to enable (true) or disable (false) auto-acks
*/
void setAutoAck( uint8_t pipe, bool enable ) ;
/**
* Set Power Amplifier (PA) level to one of four levels.
* Relative mnemonics have been used to allow for future PA level
* changes. According to 6.5 of the nRF24L01+ specification sheet,
* they translate to: RF24_PA_MIN=-18dBm, RF24_PA_LOW=-12dBm,
* RF24_PA_MED=-6dBM, and RF24_PA_HIGH=0dBm.
*
* @param level Desired PA level.
*/
void setPALevel( rf24_pa_dbm_e level ) ;
/**
* Fetches the current PA level.
*
* @return Returns a value from the rf24_pa_dbm_e enum describing
* the current PA setting. Please remember, all values represented
* by the enum mnemonics are negative dBm. See setPALevel for
* return value descriptions.
*/
rf24_pa_dbm_e getPALevel( void ) ;
/**
* Set the transmission data rate
*
* @warning setting RF24_250KBPS will fail for non-plus units
*
* @param speed RF24_250KBPS for 250kbs, RF24_1MBPS for 1Mbps, or RF24_2MBPS for 2Mbps
* @return true if the change was successful
*/
bool setDataRate(rf24_datarate_e speed);
/**
* Fetches the transmission data rate
*
* @return Returns the hardware's currently configured datarate. The value
* is one of 250kbs, RF24_1MBPS for 1Mbps, or RF24_2MBPS, as defined in the
* rf24_datarate_e enum.
*/
rf24_datarate_e getDataRate( void ) ;
/**
* Set the CRC length
*
* @param length RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
*/
void setCRCLength(rf24_crclength_e length);
/**
* Get the CRC length
*
* @return RF24_DISABLED if disabled or RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
*/
rf24_crclength_e getCRCLength(void);
/**
* Disable CRC validation
*
*/
void disableCRC( void ) ;
/**@}*/
/**
* @name Advanced Operation
*
* Methods you can use to drive the chip in more advanced ways
*/
/**@{*/
/**
* Print a giant block of debugging information to stdout
*
* @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
*/
void printDetails(void);
/**
* Enter low-power mode
*
* To return to normal power mode, either write() some data or
* startListening, or powerUp().
*/
void powerDown(void);
/**
* Leave low-power mode - making radio more responsive
*
* To return to low power mode, call powerDown().
*/
void powerUp(void) ;
/**
* Test whether there are bytes available to be read
*
* Use this version to discover on which pipe the message
* arrived.
*
* @param[out] pipe_num Which pipe has the payload available
* @return True if there is a payload available, false if none is
*/
bool available(uint8_t* pipe_num);
/**
* Non-blocking write to the open writing pipe
*
* Just like write(), but it returns immediately. To find out what happened
* to the send, catch the IRQ and then call whatHappened().
*
* @see write()
* @see whatHappened()
*
* @param buf Pointer to the data to be sent
* @param len Number of bytes to be sent
* @return True if the payload was delivered successfully false if not
*/
void startWrite( const void* buf, uint8_t len );
/**
* Write an ack payload for the specified pipe
*
* The next time a message is received on @p pipe, the data in @p buf will
* be sent back in the acknowledgement.
*
* @warning According to the data sheet, only three of these can be pending
* at any time. I have not tested this.
*
* @param pipe Which pipe# (typically 1-5) will get this response.
* @param buf Pointer to data that is sent
* @param len Length of the data to send, up to 32 bytes max. Not affected
* by the static payload set by setPayloadSize().
*/
void writeAckPayload(uint8_t pipe, const void* buf, uint8_t len);
/**
* Determine if an ack payload was received in the most recent call to
* write().
*
* Call read() to retrieve the ack payload.
*
* @warning Calling this function clears the internal flag which indicates
* a payload is available. If it returns true, you must read the packet
* out as the very next interaction with the radio, or the results are
* undefined.
*
* @return True if an ack payload is available.
*/
bool isAckPayloadAvailable(void);
/**
* Call this when you get an interrupt to find out why
*
* Tells you what caused the interrupt, and clears the state of
* interrupts.
*
* @param[out] tx_ok The send was successful (TX_DS)
* @param[out] tx_fail The send failed, too many retries (MAX_RT)
* @param[out] rx_ready There is a message waiting to be read (RX_DS)
*/
void whatHappened(bool& tx_ok,bool& tx_fail,bool& rx_ready);
/**
* Test whether there was a carrier on the line for the
* previous listening period.
*
* Useful to check for interference on the current channel.
*
* @return true if was carrier, false if not
*/
bool testCarrier(void);
/**
* Test whether a signal (carrier or otherwise) greater than
* or equal to -64dBm is present on the channel. Valid only
* on nRF24L01P (+) hardware. On nRF24L01, use testCarrier().
*
* Useful to check for interference on the current channel and
* channel hopping strategies.
*
* @return true if signal => -64dBm, false if not
*/
bool testRPD(void) ;
/**
* Test whether this is a real radio, or a mock shim for
* debugging. Setting either pin to 0xff is the way to
* indicate that this is not a real radio.
*
* @return true if this is a legitimate radio
*/
bool isValid() { return ce_pin != 0xff && csn_pin != 0xff; }
/**@}*/
};
/**
* @example GettingStarted.pde
*
* This is an example which corresponds to my "Getting Started" blog post:
* <a style="text-align:center" href="http://maniacbug.wordpress.com/2011/11/02/getting-started-rf24/">Getting Started with nRF24L01+ on Arduino</a>.
*
* It is an example of how to use the RF24 class. Write this sketch to two
* different nodes. Put one of the nodes into 'transmit' mode by connecting
* with the serial monitor and sending a 'T'. The ping node sends the current
* time to the pong node, which responds by sending the value back. The ping
* node can then see how long the whole cycle took.
*/
/**
* @example nordic_fob.pde
*
* This is an example of how to use the RF24 class to receive signals from the
* Sparkfun Nordic FOB. See http://www.sparkfun.com/products/8602 .
* Thanks to Kirk Mower for providing test hardware.
*/
/**
* @example led_remote.pde
*
* This is an example of how to use the RF24 class to control a remote
* bank of LED's using buttons on a remote control.
*
* Every time the buttons change on the remote, the entire state of
* buttons is send to the led board, which displays the state.
*/
/**
* @example pingpair.pde
*
* This is an example of how to use the RF24 class. Write this sketch to two
* different nodes, connect the role_pin to ground on one. The ping node sends
* the current time to the pong node, which responds by sending the value back.
* The ping node can then see how long the whole cycle took.
*/
/**
* @example pingpair_maple.pde
*
* This is an example of how to use the RF24 class on the Maple. For a more
* detailed explanation, see my blog post:
* <a href="http://maniacbug.wordpress.com/2011/12/14/nrf24l01-running-on-maple-3/">nRF24L01+ Running on Maple</a>
*
* It will communicate well to an Arduino-based unit as well, so it's not for only Maple-to-Maple communication.
*
* Write this sketch to two different nodes,
* connect the role_pin to ground on one. The ping node sends the current time to the pong node,
* which responds by sending the value back. The ping node can then see how long the whole cycle
* took.
*/
/**
* @example starping.pde
*
* This sketch is a more complex example of using the RF24 library for Arduino.
* Deploy this on up to six nodes. Set one as the 'pong receiver' by tying the
* role_pin low, and the others will be 'ping transmit' units. The ping units
* unit will send out the value of millis() once a second. The pong unit will
* respond back with a copy of the value. Each ping unit can get that response
* back, and determine how long the whole cycle took.
*
* This example requires a bit more complexity to determine which unit is which.
* The pong receiver is identified by having its role_pin tied to ground.
* The ping senders are further differentiated by a byte in eeprom.
*/
/**
* @example pingpair_pl.pde
*
* This is an example of how to do two-way communication without changing
* transmit/receive modes. Here, a payload is set to the transmitter within
* the Ack packet of each transmission. Note that the payload is set BEFORE
* the sender's message arrives.
*/
/**
* @example pingpair_irq.pde
*
* This is an example of how to user interrupts to interact with the radio.
* It builds on the pingpair_pl example, and uses ack payloads.
*/
/**
* @example pingpair_sleepy.pde
*
* This is an example of how to use the RF24 class to create a battery-
* efficient system. It is just like the pingpair.pde example, but the
* ping node powers down the radio and sleeps the MCU after every
* ping/pong cycle.
*/
/**
* @example scanner.pde
*
* Example to detect interference on the various channels available.
* This is a good diagnostic tool to check whether you're picking a
* good channel for your application.
*
* Inspired by cpixip.
* See http://arduino.cc/forum/index.php/topic,54795.0.html
*/
/**
* @mainpage Driver for nRF24L01(+) 2.4GHz Wireless Transceiver
*
* @section Goals Design Goals
*
* This library is designed to be...
* @li Maximally compliant with the intended operation of the chip
* @li Easy for beginners to use
* @li Consumed with a public interface that's similiar to other Arduino standard libraries
*
* @section News News
*
* NOW COMPATIBLE WITH ARDUINO 1.0 - The 'master' branch and all examples work with both Arduino 1.0 and earlier versions.
* Please <a href="https://github.com/maniacbug/RF24/issues/new">open an issue</a> if you find any problems using it with any version of Arduino.
*
* NOW COMPATIBLE WITH MAPLE - RF24 has been tested with the
* <a href="http://leaflabs.com/store/#Maple-Native">Maple Native</a>,
* and should work with any Maple board. See the pingpair_maple example.
* Note that only the pingpair_maple example has been tested on Maple, although
* the others can certainly be adapted.
*
* @section Useful Useful References
*
* Please refer to:
*
* @li <a href="http://maniacbug.github.com/RF24/">Documentation Main Page</a>
* @li <a href="http://maniacbug.github.com/RF24/classRF24.html">RF24 Class Documentation</a>
* @li <a href="https://github.com/maniacbug/RF24/">Source Code</a>
* @li <a href="https://github.com/maniacbug/RF24/archives/master">Downloads Page</a>
* @li <a href="http://www.nordicsemi.com/files/Product/data_sheet/nRF24L01_Product_Specification_v2_0.pdf">Chip Datasheet</a>
*
* This chip uses the SPI bus, plus two chip control pins. Remember that pin 10 must still remain an output, or
* the SPI hardware will go into 'slave' mode.
*
* @section More More Information
*
* @subpage FAQ
*
* @section Projects Projects
*
* Stuff I have built with RF24
*
* <img src="http://farm7.staticflickr.com/6044/6307669179_a8d19298a6_m.jpg" width="240" height="160" alt="RF24 Getting Started - Finished Product">
*
* <a style="text-align:center" href="http://maniacbug.wordpress.com/2011/11/02/getting-started-rf24/">Getting Started with nRF24L01+ on Arduino</a>
*
* <img src="http://farm8.staticflickr.com/7159/6645514331_38eb2bdeaa_m.jpg" width="240" height="160" alt="Nordic FOB and nRF24L01+">
*
* <a style="text-align:center" href="http://maniacbug.wordpress.com/2012/01/08/nordic-fob/">Using the Sparkfun Nordic FOB</a>
*
* <img src="http://farm7.staticflickr.com/6097/6224308836_b9b3b421a3_m.jpg" width="240" height="160" alt="RF Duinode V3 (2V4)">
*
* <a href="http://maniacbug.wordpress.com/2011/10/19/sensor-node/">Low-Power Wireless Sensor Node</a>
*
* <img src="http://farm8.staticflickr.com/7012/6489477865_b56edb629b_m.jpg" width="240" height="161" alt="nRF24L01+ connected to Leaf Labs Maple Native">
*
* <a href="http://maniacbug.wordpress.com/2011/12/14/nrf24l01-running-on-maple-3/">nRF24L01+ Running on Maple</a>
*/
#endif // __RF24_H__
/*
Copyright (C) 2011 J. Coliz <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.
*/
///include "nRF24L01.h"
///include "RF24_config.h"
///include "RF24.h"
/****************************************************************************/
void RF24::csn(int mode)
{
// Minimum ideal SPI bus speed is 2x data rate
// If we assume 2Mbs data rate and 16Mhz clock, a
// divider of 4 is the minimum we want.
// CLK:BUS 8Mhz:2Mhz, 16Mhz:4Mhz, or 20Mhz:5Mhz
#ifdef ARDUINO
SPI.setBitOrder(MSBFIRST);
SPI.setDataMode(SPI_MODE0);
SPI.setClockDivider(SPI_CLOCK_DIV16);
#endif
digitalWrite(csn_pin,mode);
}
/****************************************************************************/
void RF24::ce(int level)
{
digitalWrite(ce_pin,level);
}
/****************************************************************************/
uint8_t RF24::read_register(uint8_t reg, uint8_t* buf, uint8_t len)
{
uint8_t status;
csn(LOW);
status = SPI.transfer( R_REGISTER | ( REGISTER_MASK & reg ) );
while ( len-- )
*buf++ = SPI.transfer(0xff);
csn(HIGH);
return status;
}
/****************************************************************************/
uint8_t RF24::read_register(uint8_t reg)
{
csn(LOW);
SPI.transfer( R_REGISTER | ( REGISTER_MASK & reg ) );
uint8_t result = SPI.transfer(0xff);
csn(HIGH);
return result;
}
/****************************************************************************/
uint8_t RF24::write_register(uint8_t reg, const uint8_t* buf, uint8_t len)
{
uint8_t status;
csn(LOW);
status = SPI.transfer( W_REGISTER | ( REGISTER_MASK & reg ) );
while ( len-- )
SPI.transfer(*buf++);
csn(HIGH);
return status;
}
/****************************************************************************/
uint8_t RF24::write_register(uint8_t reg, uint8_t value)
{
uint8_t status;
IF_SERIAL_DEBUG(printf_P(PSTR("write_register(%02x,%02x)\r\n"),reg,value));
csn(LOW);
status = SPI.transfer( W_REGISTER | ( REGISTER_MASK & reg ) );
SPI.transfer(value);
csn(HIGH);
return status;
}
/****************************************************************************/
uint8_t RF24::write_payload(const void* buf, uint8_t len)
{
uint8_t status;
const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
uint8_t data_len = min(len,payload_size);
uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
//printf("[Writing %u bytes %u blanks]",data_len,blank_len);
csn(LOW);
status = SPI.transfer( W_TX_PAYLOAD );
while ( data_len-- )
SPI.transfer(*current++);
while ( blank_len-- )
SPI.transfer(0);
csn(HIGH);
return status;
}
/****************************************************************************/
uint8_t RF24::read_payload(void* buf, uint8_t len)
{
uint8_t status;
uint8_t* current = reinterpret_cast<uint8_t*>(buf);
uint8_t data_len = min(len,payload_size);
uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
//printf("[Reading %u bytes %u blanks]",data_len,blank_len);
csn(LOW);
status = SPI.transfer( R_RX_PAYLOAD );
while ( data_len-- )
*current++ = SPI.transfer(0xff);
while ( blank_len-- )
SPI.transfer(0xff);
csn(HIGH);
return status;
}
/****************************************************************************/
uint8_t RF24::flush_rx(void)
{
uint8_t status;
csn(LOW);
status = SPI.transfer( FLUSH_RX );
csn(HIGH);
return status;
}
/****************************************************************************/
uint8_t RF24::flush_tx(void)
{
uint8_t status;
csn(LOW);
status = SPI.transfer( FLUSH_TX );
csn(HIGH);
return status;
}
/****************************************************************************/
uint8_t RF24::get_status(void)
{
uint8_t status;
csn(LOW);
status = SPI.transfer( NOP );
csn(HIGH);
return status;
}
/****************************************************************************/
void RF24::print_status(uint8_t status)
{
printf_P(PSTR("STATUS\t\t = 0x%02x RX_DR=%x TX_DS=%x MAX_RT=%x RX_P_NO=%x TX_FULL=%x\r\n"),
status,
(status & _BV(RX_DR))?1:0,
(status & _BV(TX_DS))?1:0,
(status & _BV(MAX_RT))?1:0,
((status >> RX_P_NO) & B111),
(status & _BV(TX_FULL))?1:0
);
}
/****************************************************************************/
void RF24::print_observe_tx(uint8_t value)
{
printf_P(PSTR("OBSERVE_TX=%02x: POLS_CNT=%x ARC_CNT=%x\r\n"),
value,
(value >> PLOS_CNT) & B1111,
(value >> ARC_CNT) & B1111
);
}
/****************************************************************************/
void RF24::print_byte_register(const char* name, uint8_t reg, uint8_t qty)
{
char extra_tab = strlen_P(name) < 8 ? '\t' : 0;
printf_P(PSTR(PRIPSTR"\t%c ="),name,extra_tab);
while (qty--)
printf_P(PSTR(" 0x%02x"),read_register(reg++));
printf_P(PSTR("\r\n"));
}
/****************************************************************************/
void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
{
char extra_tab = strlen_P(name) < 8 ? '\t' : 0;
printf_P(PSTR(PRIPSTR"\t%c ="),name,extra_tab);
while (qty--)
{
uint8_t buffer[5];
read_register(reg++,buffer,sizeof buffer);
printf_P(PSTR(" 0x"));
uint8_t* bufptr = buffer + sizeof buffer;
while( --bufptr >= buffer )
printf_P(PSTR("%02x"),*bufptr);
}
printf_P(PSTR("\r\n"));
}
/****************************************************************************/
RF24::RF24(uint8_t _cepin, uint8_t _cspin):
ce_pin(_cepin), csn_pin(_cspin), wide_band(true), p_variant(false),
payload_size(32), ack_payload_available(false), dynamic_payloads_enabled(false),
pipe0_reading_address(0)
{
}
/****************************************************************************/
void RF24::setChannel(uint8_t channel)
{
// TODO: This method could take advantage of the 'wide_band' calculation
// done in setChannel() to require certain channel spacing.
const uint8_t max_channel = 127;
write_register(RF_CH,min(channel,max_channel));
}
/****************************************************************************/
void RF24::setPayloadSize(uint8_t size)
{
const uint8_t max_payload_size = 32;
payload_size = min(size,max_payload_size);
}
/****************************************************************************/
uint8_t RF24::getPayloadSize(void)
{
return payload_size;
}
/****************************************************************************/
static const char rf24_datarate_e_str_0[] PROGMEM = "1MBPS";
static const char rf24_datarate_e_str_1[] PROGMEM = "2MBPS";
static const char rf24_datarate_e_str_2[] PROGMEM = "250KBPS";
static const char * const rf24_datarate_e_str_P[] PROGMEM = {
rf24_datarate_e_str_0,
rf24_datarate_e_str_1,
rf24_datarate_e_str_2,
};
static const char rf24_model_e_str_0[] PROGMEM = "nRF24L01";
static const char rf24_model_e_str_1[] PROGMEM = "nRF24L01+";
static const char * const rf24_model_e_str_P[] PROGMEM = {
rf24_model_e_str_0,
rf24_model_e_str_1,
};
static const char rf24_crclength_e_str_0[] PROGMEM = "Disabled";
static const char rf24_crclength_e_str_1[] PROGMEM = "8 bits";
static const char rf24_crclength_e_str_2[] PROGMEM = "16 bits" ;
static const char * const rf24_crclength_e_str_P[] PROGMEM = {
rf24_crclength_e_str_0,
rf24_crclength_e_str_1,
rf24_crclength_e_str_2,
};
static const char rf24_pa_dbm_e_str_0[] PROGMEM = "PA_MIN";
static const char rf24_pa_dbm_e_str_1[] PROGMEM = "PA_LOW";
static const char rf24_pa_dbm_e_str_2[] PROGMEM = "LA_MED";
static const char rf24_pa_dbm_e_str_3[] PROGMEM = "PA_HIGH";
static const char * const rf24_pa_dbm_e_str_P[] PROGMEM = {
rf24_pa_dbm_e_str_0,
rf24_pa_dbm_e_str_1,
rf24_pa_dbm_e_str_2,
rf24_pa_dbm_e_str_3,
};
void RF24::printDetails(void)
{
print_status(get_status());
print_address_register(PSTR("RX_ADDR_P0-1"),RX_ADDR_P0,2);
print_byte_register(PSTR("RX_ADDR_P2-5"),RX_ADDR_P2,4);
print_address_register(PSTR("TX_ADDR"),TX_ADDR);
print_byte_register(PSTR("RX_PW_P0-6"),RX_PW_P0,6);
print_byte_register(PSTR("EN_AA"),EN_AA);
print_byte_register(PSTR("EN_RXADDR"),EN_RXADDR);
print_byte_register(PSTR("RF_CH"),RF_CH);
print_byte_register(PSTR("RF_SETUP"),RF_SETUP);
print_byte_register(PSTR("CONFIG"),CONFIG);
print_byte_register(PSTR("DYNPD/FEATURE"),DYNPD,2);
printf_P(PSTR("Data Rate\t = %s\r\n"),pgm_read_word(&rf24_datarate_e_str_P[getDataRate()]));
printf_P(PSTR("Model\t\t = %s\r\n"),pgm_read_word(&rf24_model_e_str_P[isPVariant()]));
printf_P(PSTR("CRC Length\t = %s\r\n"),pgm_read_word(&rf24_crclength_e_str_P[getCRCLength()]));
printf_P(PSTR("PA Power\t = %s\r\n"),pgm_read_word(&rf24_pa_dbm_e_str_P[getPALevel()]));
}
/****************************************************************************/
void RF24::begin(void)
{
// Initialize pins
pinMode(ce_pin,OUTPUT);
pinMode(csn_pin,OUTPUT);
// Initialize SPI bus
SPI.begin();
ce(LOW);
csn(HIGH);
// Must allow the radio time to settle else configuration bits will not necessarily stick.
// This is actually only required following power up but some settling time also appears to
// be required after resets too. For full coverage, we'll always assume the worst.
// Enabling 16b CRC is by far the most obvious case if the wrong timing is used - or skipped.
// Technically we require 4.5ms + 14us as a worst case. We'll just call it 5ms for good measure.
// WARNING: Delay is based on P-variant whereby non-P *may* require different timing.
delay( 5 ) ;
// Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
// WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
// sizes must never be used. See documentation for a more complete explanation.
write_register(SETUP_RETR,(B0100 << ARD) | (B1111 << ARC));
// Restore our default PA level
setPALevel( RF24_PA_MAX ) ;
// Determine if this is a p or non-p RF24 module and then
// reset our data rate back to default value. This works
// because a non-P variant won't allow the data rate to
// be set to 250Kbps.
if( setDataRate( RF24_250KBPS ) )
{
p_variant = true ;
}
// Then set the data rate to the slowest (and most reliable) speed supported by all
// hardware.
setDataRate( RF24_1MBPS ) ;
// Initialize CRC and request 2-byte (16bit) CRC
setCRCLength( RF24_CRC_16 ) ;
// Disable dynamic payloads, to match dynamic_payloads_enabled setting
write_register(DYNPD,0);
// Reset current status
// Notice reset and flush is the last thing we do
write_register(STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
// Set up default configuration. Callers can always change it later.
// This channel should be universally safe and not bleed over into adjacent
// spectrum.
setChannel(76);
// Flush buffers
flush_rx();
flush_tx();
}
/****************************************************************************/
void RF24::startListening(void)
{
write_register(CONFIG, read_register(CONFIG) | _BV(PWR_UP) | _BV(PRIM_RX));
write_register(STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
// Restore the pipe0 adddress, if exists
if (pipe0_reading_address)
write_register(RX_ADDR_P0, reinterpret_cast<const uint8_t*>(&pipe0_reading_address), 5);
// Flush buffers
flush_rx();
flush_tx();
// Go!
ce(HIGH);
// wait for the radio to come up (130us actually only needed)
delayMicroseconds(130);
}
/****************************************************************************/
void RF24::stopListening(void)
{
ce(LOW);
flush_tx();
flush_rx();
}
/****************************************************************************/
void RF24::powerDown(void)
{
write_register(CONFIG,read_register(CONFIG) & ~_BV(PWR_UP));
}
/****************************************************************************/
void RF24::powerUp(void)
{
write_register(CONFIG,read_register(CONFIG) | _BV(PWR_UP));
}
/******************************************************************/
bool RF24::write( const void* buf, uint8_t len )
{
bool result = false;
// Begin the write
startWrite(buf,len);
// ------------
// At this point we could return from a non-blocking write, and then call
// the rest after an interrupt
// Instead, we are going to block here until we get TX_DS (transmission completed and ack'd)
// or MAX_RT (maximum retries, transmission failed). Also, we'll timeout in case the radio
// is flaky and we get neither.
// IN the end, the send should be blocking. It comes back in 60ms worst case, or much faster
// if I tighted up the retry logic. (Default settings will be 1500us.
// Monitor the send
uint8_t observe_tx;
uint8_t status;
uint32_t sent_at = millis();
const uint32_t timeout = 500; //ms to wait for timeout
do
{
status = read_register(OBSERVE_TX,&observe_tx,1);
IF_SERIAL_DEBUG(Serial.print(observe_tx,HEX));
}
while( ! ( status & ( _BV(TX_DS) | _BV(MAX_RT) ) ) && ( millis() - sent_at < timeout ) );
// The part above is what you could recreate with your own interrupt handler,
// and then call this when you got an interrupt
// ------------
// Call this when you get an interrupt
// The status tells us three things
// * The send was successful (TX_DS)
// * The send failed, too many retries (MAX_RT)
// * There is an ack packet waiting (RX_DR)
bool tx_ok, tx_fail;
whatHappened(tx_ok,tx_fail,ack_payload_available);
//printf("%u%u%u\r\n",tx_ok,tx_fail,ack_payload_available);
result = tx_ok;
IF_SERIAL_DEBUG(Serial.print(result?"...OK.":"...Failed"));
// Handle the ack packet
if ( ack_payload_available )
{
ack_payload_length = getDynamicPayloadSize();
IF_SERIAL_DEBUG(Serial.print("[AckPacket]/"));
IF_SERIAL_DEBUG(Serial.println(ack_payload_length,DEC));
}
// Yay, we are done.
// Power down
powerDown();
// Flush buffers (Is this a relic of past experimentation, and not needed anymore??)
flush_tx();
return result;
}
/****************************************************************************/
void RF24::startWrite( const void* buf, uint8_t len )
{
// Transmitter power-up
write_register(CONFIG, ( read_register(CONFIG) | _BV(PWR_UP) ) & ~_BV(PRIM_RX) );
delayMicroseconds(150);
// Send the payload
write_payload( buf, len );
// Allons!
ce(HIGH);
delayMicroseconds(15);
ce(LOW);
}
/****************************************************************************/
uint8_t RF24::getDynamicPayloadSize(void)
{
uint8_t result = 0;
csn(LOW);
SPI.transfer( R_RX_PL_WID );
result = SPI.transfer(0xff);
csn(HIGH);
return result;
}
/****************************************************************************/
bool RF24::available(void)
{
return available(NULL);
}
/****************************************************************************/
bool RF24::available(uint8_t* pipe_num)
{
uint8_t status = get_status();
// Too noisy, enable if you really want lots o data!!
//IF_SERIAL_DEBUG(print_status(status));
bool result = ( status & _BV(RX_DR) );
if (result)
{
// If the caller wants the pipe number, include that
if ( pipe_num )
*pipe_num = ( status >> RX_P_NO ) & B111;
// Clear the status bit
// ??? Should this REALLY be cleared now? Or wait until we
// actually READ the payload?
write_register(STATUS,_BV(RX_DR) );
// Handle ack payload receipt
if ( status & _BV(TX_DS) )
{
write_register(STATUS,_BV(TX_DS));
}
}
return result;
}
/****************************************************************************/
bool RF24::read( void* buf, uint8_t len )
{
// Fetch the payload
read_payload( buf, len );
// was this the last of the data available?
return read_register(FIFO_STATUS) & _BV(RX_EMPTY);
}
/****************************************************************************/
void RF24::whatHappened(bool& tx_ok,bool& tx_fail,bool& rx_ready)
{
// Read the status & reset the status in one easy call
// Or is that such a good idea?
uint8_t status = write_register(STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
// Report to the user what happened
tx_ok = status & _BV(TX_DS);
tx_fail = status & _BV(MAX_RT);
rx_ready = status & _BV(RX_DR);
}
/****************************************************************************/
void RF24::openWritingPipe(uint64_t value)
{
// Note that AVR 8-bit uC's store this LSB first, and the NRF24L01(+)
// expects it LSB first too, so we're good.
write_register(RX_ADDR_P0, reinterpret_cast<uint8_t*>(&value), 5);
write_register(TX_ADDR, reinterpret_cast<uint8_t*>(&value), 5);
const uint8_t max_payload_size = 32;
write_register(RX_PW_P0,min(payload_size,max_payload_size));
}
/****************************************************************************/
static const uint8_t child_pipe[] PROGMEM =
{
RX_ADDR_P0, RX_ADDR_P1, RX_ADDR_P2, RX_ADDR_P3, RX_ADDR_P4, RX_ADDR_P5
};
static const uint8_t child_payload_size[] PROGMEM =
{
RX_PW_P0, RX_PW_P1, RX_PW_P2, RX_PW_P3, RX_PW_P4, RX_PW_P5
};
static const uint8_t child_pipe_enable[] PROGMEM =
{
ERX_P0, ERX_P1, ERX_P2, ERX_P3, ERX_P4, ERX_P5
};
void RF24::openReadingPipe(uint8_t child, uint64_t address)
{
// If this is pipe 0, cache the address. This is needed because
// openWritingPipe() will overwrite the pipe 0 address, so
// startListening() will have to restore it.
if (child == 0)
pipe0_reading_address = address;
if (child <= 6)
{
// For pipes 2-5, only write the LSB
if ( child < 2 )
write_register(pgm_read_byte(&child_pipe[child]), reinterpret_cast<const uint8_t*>(&address), 5);
else
write_register(pgm_read_byte(&child_pipe[child]), reinterpret_cast<const uint8_t*>(&address), 1);
write_register(pgm_read_byte(&child_payload_size[child]),payload_size);
// Note it would be more efficient to set all of the bits for all open
// pipes at once. However, I thought it would make the calling code
// more simple to do it this way.
write_register(EN_RXADDR,read_register(EN_RXADDR) | _BV(pgm_read_byte(&child_pipe_enable[child])));
}
}
/****************************************************************************/
void RF24::toggle_features(void)
{
csn(LOW);
SPI.transfer( ACTIVATE );
SPI.transfer( 0x73 );
csn(HIGH);
}
/****************************************************************************/
void RF24::enableDynamicPayloads(void)
{
// Enable dynamic payload throughout the system
write_register(FEATURE,read_register(FEATURE) | _BV(EN_DPL) );
// If it didn't work, the features are not enabled
if ( ! read_register(FEATURE) )
{
// So enable them and try again
toggle_features();
write_register(FEATURE,read_register(FEATURE) | _BV(EN_DPL) );
}
IF_SERIAL_DEBUG(printf("FEATURE=%i\r\n",read_register(FEATURE)));
// Enable dynamic payload on all pipes
//
// Not sure the use case of only having dynamic payload on certain
// pipes, so the library does not support it.
write_register(DYNPD,read_register(DYNPD) | _BV(DPL_P5) | _BV(DPL_P4) | _BV(DPL_P3) | _BV(DPL_P2) | _BV(DPL_P1) | _BV(DPL_P0));
dynamic_payloads_enabled = true;
}
/****************************************************************************/
void RF24::enableAckPayload(void)
{
//
// enable ack payload and dynamic payload features
//
write_register(FEATURE,read_register(FEATURE) | _BV(EN_ACK_PAY) | _BV(EN_DPL) );
// If it didn't work, the features are not enabled
if ( ! read_register(FEATURE) )
{
// So enable them and try again
toggle_features();
write_register(FEATURE,read_register(FEATURE) | _BV(EN_ACK_PAY) | _BV(EN_DPL) );
}
IF_SERIAL_DEBUG(printf("FEATURE=%i\r\n",read_register(FEATURE)));
//
// Enable dynamic payload on pipes 0 & 1
//
write_register(DYNPD,read_register(DYNPD) | _BV(DPL_P1) | _BV(DPL_P0));
}
/****************************************************************************/
void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
{
const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
csn(LOW);
SPI.transfer( W_ACK_PAYLOAD | ( pipe & B111 ) );
const uint8_t max_payload_size = 32;
uint8_t data_len = min(len,max_payload_size);
while ( data_len-- )
SPI.transfer(*current++);
csn(HIGH);
}
/****************************************************************************/
bool RF24::isAckPayloadAvailable(void)
{
bool result = ack_payload_available;
ack_payload_available = false;
return result;
}
/****************************************************************************/
bool RF24::isPVariant(void)
{
return p_variant ;
}
/****************************************************************************/
void RF24::setAutoAck(bool enable)
{
if ( enable )
write_register(EN_AA, B111111);
else
write_register(EN_AA, 0);
}
/****************************************************************************/
void RF24::setAutoAck( uint8_t pipe, bool enable )
{
if ( pipe <= 6 )
{
uint8_t en_aa = read_register( EN_AA ) ;
if( enable )
{
en_aa |= _BV(pipe) ;
}
else
{
en_aa &= ~_BV(pipe) ;
}
write_register( EN_AA, en_aa ) ;
}
}
/****************************************************************************/
bool RF24::testCarrier(void)
{
return ( read_register(CD) & 1 );
}
/****************************************************************************/
bool RF24::testRPD(void)
{
return ( read_register(RPD) & 1 ) ;
}
/****************************************************************************/
void RF24::setPALevel(rf24_pa_dbm_e level)
{
uint8_t setup = read_register(RF_SETUP) ;
setup &= ~(_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
// switch uses RAM (evil!)
if ( level == RF24_PA_MAX )
{
setup |= (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
}
else if ( level == RF24_PA_HIGH )
{
setup |= _BV(RF_PWR_HIGH) ;
}
else if ( level == RF24_PA_LOW )
{
setup |= _BV(RF_PWR_LOW);
}
else if ( level == RF24_PA_MIN )
{
// nothing
}
else if ( level == RF24_PA_ERROR )
{
// On error, go to maximum PA
setup |= (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
}
write_register( RF_SETUP, setup ) ;
}
/****************************************************************************/
rf24_pa_dbm_e RF24::getPALevel(void)
{
rf24_pa_dbm_e result = RF24_PA_ERROR ;
uint8_t power = read_register(RF_SETUP) & (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
// switch uses RAM (evil!)
if ( power == (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) )
{
result = RF24_PA_MAX ;
}
else if ( power == _BV(RF_PWR_HIGH) )
{
result = RF24_PA_HIGH ;
}
else if ( power == _BV(RF_PWR_LOW) )
{
result = RF24_PA_LOW ;
}
else
{
result = RF24_PA_MIN ;
}
return result ;
}
/****************************************************************************/
bool RF24::setDataRate(rf24_datarate_e speed)
{
bool result = false;
uint8_t setup = read_register(RF_SETUP) ;
// HIGH and LOW '00' is 1Mbs - our default
wide_band = false ;
setup &= ~(_BV(RF_DR_LOW) | _BV(RF_DR_HIGH)) ;
if( speed == RF24_250KBPS )
{
// Must set the RF_DR_LOW to 1; RF_DR_HIGH (used to be RF_DR) is already 0
// Making it '10'.
wide_band = false ;
setup |= _BV( RF_DR_LOW ) ;
}
else
{
// Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
// Making it '01'
if ( speed == RF24_2MBPS )
{
wide_band = true ;
setup |= _BV(RF_DR_HIGH);
}
else
{
// 1Mbs
wide_band = false ;
}
}
write_register(RF_SETUP,setup);
// Verify our result
if ( read_register(RF_SETUP) == setup )
{
result = true;
}
else
{
wide_band = false;
}
return result;
}
/****************************************************************************/
rf24_datarate_e RF24::getDataRate( void )
{
rf24_datarate_e result ;
uint8_t dr = read_register(RF_SETUP) & (_BV(RF_DR_LOW) | _BV(RF_DR_HIGH));
// switch uses RAM (evil!)
// Order matters in our case below
if ( dr == _BV(RF_DR_LOW) )
{
// '10' = 250KBPS
result = RF24_250KBPS ;
}
else if ( dr == _BV(RF_DR_HIGH) )
{
// '01' = 2MBPS
result = RF24_2MBPS ;
}
else
{
// '00' = 1MBPS
result = RF24_1MBPS ;
}
return result ;
}
/****************************************************************************/
void RF24::setCRCLength(rf24_crclength_e length)
{
uint8_t config = read_register(CONFIG) & ~( _BV(CRCO) | _BV(EN_CRC)) ;
// switch uses RAM (evil!)
if ( length == RF24_CRC_DISABLED )
{
// Do nothing, we turned it off above.
}
else if ( length == RF24_CRC_8 )
{
config |= _BV(EN_CRC);
}
else
{
config |= _BV(EN_CRC);
config |= _BV( CRCO );
}
write_register( CONFIG, config ) ;
}
/****************************************************************************/
rf24_crclength_e RF24::getCRCLength(void)
{
rf24_crclength_e result = RF24_CRC_DISABLED;
uint8_t config = read_register(CONFIG) & ( _BV(CRCO) | _BV(EN_CRC)) ;
if ( config & _BV(EN_CRC ) )
{
if ( config & _BV(CRCO) )
result = RF24_CRC_16;
else
result = RF24_CRC_8;
}
return result;
}
/****************************************************************************/
void RF24::disableCRC( void )
{
uint8_t disable = read_register(CONFIG) & ~_BV(EN_CRC) ;
write_register( CONFIG, disable ) ;
}
/****************************************************************************/
void RF24::setRetries(uint8_t delay, uint8_t count)
{
write_register(SETUP_RETR,(delay&0xf)<<ARD | (count&0xf)<<ARC);
}
RF24 radio(D2, A2);
//
// Topology
//
// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
//
// Role management
//
// Set up role. This sketch uses the same software for all the nodes
// in this system. Doing so greatly simplifies testing.
//
// The various roles supported by this sketch
typedef enum { role_ping_out = 1, role_pong_back } role_e;
// The debug-friendly names of those roles
const char* role_friendly_name[] = { "invalid", "Ping out", "Pong back"};
// The role of the current running sketch
role_e role = role_pong_back;
void pulse(uint16_t sleep, uint8_t times = 1, uint8_t r=0, uint8_t g=0, uint8_t b=200) {
RGB.control(true);
for (int i = 0; i < times; i++) {
RGB.color(0, 0, 200);
delay(sleep);
RGB.color(0, 0, 0);
delay(sleep);
}
RGB.control(false);
}
void setup()
{
pulse(100);
Serial.begin(9600);
while(!Serial.available()) {
pulse(500,1,200,0,0);
}
// Print preamble
//
Serial.print("ROLE: ");
Serial.println(role_friendly_name[role]);
//
// Setup and configure rf radio
//
radio.begin();
// optionally, increase the delay between retries & # of retries
radio.setRetries(15,15);
// optionally, reduce the payload size. seems to
// improve reliability
radio.setPayloadSize(8);
//
// Open pipes to other nodes for communication
//
// This simple sketch opens two pipes for these two nodes to communicate
// back and forth.
// Open 'our' pipe for writing
// Open the 'other' pipe for reading, in position #1 (we can have up to 5 pipes open for reading)
if ( role == role_ping_out )
{
radio.openWritingPipe(pipes[0]);
radio.openReadingPipe(1,pipes[1]);
}
else
{
radio.openWritingPipe(pipes[1]);
radio.openReadingPipe(1,pipes[0]);
}
//
// Start listening
//
radio.startListening();
pulse(1000, 2);
// THIS FAILS BADLY
// radio.printDetails();
}
void loop()
{
//
// Ping out role. Repeatedly send the current time
//
if (role == role_ping_out)
{
// First, stop listening so we can talk.
radio.stopListening();
// Take the time, and send it. This will block until complete
unsigned long time = millis();
Serial.print("Now sending");
Serial.println(time);
bool ok = radio.write( &time, sizeof(unsigned long) );
if (ok)
Serial.println("ok...");
else
Serial.println("failed.");
// Now, continue listening
radio.startListening();
// Wait here until we get a response, or timeout (250ms)
unsigned long started_waiting_at = millis();
bool timeout = false;
while ( ! radio.available() && ! timeout )
if (millis() - started_waiting_at > 200 )
timeout = true;
// Describe the results
if ( timeout )
{
Serial.println("Failed, response timed out.");
pulse(250, 1, 255,0,0);
}
else
{
// Grab the response, compare, and send to debugging spew
unsigned long got_time;
radio.read( &got_time, sizeof(unsigned long) );
pulse(250, 1, 0,255,0);
// Spew it
Serial.print("Got response ");
Serial.print(got_time);
Serial.print(", round-trip delay: ");
Serial.println(millis()-got_time);
}
// Try again 1s later
delay(1000);
}
//
// Pong back role. Receive each packet, dump it out, and send it back
//
if ( role == role_pong_back )
{
// if there is data ready
if ( radio.available() )
{
// Dump the payloads until we've gotten everything
unsigned long got_time;
bool done = false;
while (!done)
{
// Fetch the payload, and see if this was the last one.
done = radio.read( &got_time, sizeof(unsigned long) );
// Spew it
Serial.print("Got payload ");
Serial.println(got_time);
// Delay just a little bit to let the other unit
// make the transition to receiver
delay(20);
}
// First, stop listening so we can talk
radio.stopListening();
// Send the final one back.
radio.write( &got_time, sizeof(unsigned long) );
Serial.println("Sent response.");
pulse(250, 1);
// Now, resume listening so we catch the next packets.
radio.startListening();
}
}
//
// Change roles
//
if ( Serial.available() )
{
char c = toupper(Serial.read());
if ( c == 'T' && role == role_pong_back )
{
Serial.println("*** CHANGING TO TRANSMIT ROLE -- PRESS 'R' TO SWITCH BACK\n\r");
// Become the primary transmitter (ping out)
role = role_ping_out;
radio.openWritingPipe(pipes[0]);
radio.openReadingPipe(1,pipes[1]);
}
else if ( c == 'R' && role == role_ping_out )
{
Serial.println("*** CHANGING TO RECEIVE ROLE -- PRESS 'T' TO SWITCH BACK\n\r");
// Become the primary receiver (pong back)
role = role_pong_back;
radio.openWritingPipe(pipes[1]);
radio.openReadingPipe(1,pipes[0]);
}
}
}
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