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RF24.cpp
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RF24.cpp
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/*
Copyright (C) 2011 J. Coliz <[email protected]>
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(bool mode)
{
#if defined (RF24_TINY)
if (ce_pin != csn_pin) {
digitalWrite(csn_pin,mode);
}
else {
if (mode == HIGH) {
PORTB |= (1<<PINB2); // SCK->CSN HIGH
delayMicroseconds(100); // allow csn to settle.
}
else {
PORTB &= ~(1<<PINB2); // SCK->CSN LOW
delayMicroseconds(11); // allow csn to settle
}
}
// Return, CSN toggle complete
return;
#elif defined(ARDUINO) && !defined (RF24_SPI_TRANSACTIONS)
// 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
#if !defined (SOFTSPI)
_SPI.setBitOrder(MSBFIRST);
_SPI.setDataMode(SPI_MODE0);
_SPI.setClockDivider(SPI_CLOCK_DIV2);
#endif
#elif defined (RF24_RPi)
if(!mode)
_SPI.chipSelect(csn_pin);
#endif
#if !defined (RF24_LINUX)
digitalWrite(csn_pin,mode);
delayMicroseconds(5);
#endif
}
/****************************************************************************/
void RF24::ce(bool level)
{
//Allow for 3-pin use on ATTiny
if (ce_pin != csn_pin) digitalWrite(ce_pin,level);
}
/****************************************************************************/
inline void RF24::beginTransaction() {
#if defined (RF24_SPI_TRANSACTIONS)
_SPI.beginTransaction(SPISettings(RF24_SPI_SPEED, MSBFIRST, SPI_MODE0));
#endif
csn(LOW);
}
/****************************************************************************/
inline void RF24::endTransaction() {
csn(HIGH);
#if defined (RF24_SPI_TRANSACTIONS)
_SPI.endTransaction();
#endif
}
/****************************************************************************/
uint8_t RF24::read_register(uint8_t reg, uint8_t* buf, uint8_t len)
{
uint8_t status;
#if defined (RF24_LINUX)
beginTransaction(); //configures the spi settings for RPi, locks mutex and setting csn low
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size = len + 1; // Add register value to transmit buffer
*ptx++ = ( R_REGISTER | ( REGISTER_MASK & reg ) );
while (len--){ *ptx++ = NOP; } // Dummy operation, just for reading
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx++; // status is 1st byte of receive buffer
// decrement before to skip status byte
while ( --size ){ *buf++ = *prx++; }
endTransaction(); //unlocks mutex and setting csn high
#else
beginTransaction();
status = _SPI.transfer( R_REGISTER | ( REGISTER_MASK & reg ) );
while ( len-- ){
*buf++ = _SPI.transfer(0xff);
}
endTransaction();
#endif
return status;
}
/****************************************************************************/
uint8_t RF24::read_register(uint8_t reg)
{
uint8_t result;
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
*ptx++ = ( R_REGISTER | ( REGISTER_MASK & reg ) );
*ptx++ = NOP ; // Dummy operation, just for reading
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, 2);
result = *++prx; // result is 2nd byte of receive buffer
endTransaction();
#else
beginTransaction();
_SPI.transfer( R_REGISTER | ( REGISTER_MASK & reg ) );
result = _SPI.transfer(0xff);
endTransaction();
#endif
return result;
}
/****************************************************************************/
uint8_t RF24::write_register(uint8_t reg, const uint8_t* buf, uint8_t len)
{
uint8_t status;
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size = len + 1; // Add register value to transmit buffer
*ptx++ = ( W_REGISTER | ( REGISTER_MASK & reg ) );
while ( len-- )
*ptx++ = *buf++;
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx; // status is 1st byte of receive buffer
endTransaction();
#else
beginTransaction();
status = _SPI.transfer( W_REGISTER | ( REGISTER_MASK & reg ) );
while ( len-- )
_SPI.transfer(*buf++);
endTransaction();
#endif
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));
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
*ptx++ = ( W_REGISTER | ( REGISTER_MASK & reg ) );
*ptx = value ;
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, 2);
status = *prx++; // status is 1st byte of receive buffer
endTransaction();
#else
beginTransaction();
status = _SPI.transfer( W_REGISTER | ( REGISTER_MASK & reg ) );
_SPI.transfer(value);
endTransaction();
#endif
return status;
}
/****************************************************************************/
uint8_t RF24::write_payload(const void* buf, uint8_t data_len, const uint8_t writeType)
{
uint8_t status;
const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
data_len = rf24_min(data_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);
IF_SERIAL_DEBUG( printf("[Writing %u bytes %u blanks]\n",data_len,blank_len); );
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size;
size = data_len + blank_len + 1 ; // Add register value to transmit buffer
*ptx++ = writeType;
while ( data_len-- )
*ptx++ = *current++;
while ( blank_len-- )
*ptx++ = 0;
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx; // status is 1st byte of receive buffer
endTransaction();
#else
beginTransaction();
status = _SPI.transfer( writeType );
while ( data_len-- ) {
_SPI.transfer(*current++);
}
while ( blank_len-- ) {
_SPI.transfer(0);
}
endTransaction();
#endif
return status;
}
/****************************************************************************/
uint8_t RF24::read_payload(void* buf, uint8_t data_len)
{
uint8_t status;
uint8_t* current = reinterpret_cast<uint8_t*>(buf);
if(data_len > payload_size) data_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);
IF_SERIAL_DEBUG( printf("[Reading %u bytes %u blanks]\n",data_len,blank_len); );
#if defined (RF24_LINUX)
beginTransaction();
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size;
size = data_len + blank_len + 1; // Add register value to transmit buffer
*ptx++ = R_RX_PAYLOAD;
while(--size)
*ptx++ = NOP;
size = data_len + blank_len + 1; // Size has been lost during while, re affect
_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx++; // 1st byte is status
if (data_len > 0) {
while ( --data_len ) // Decrement before to skip 1st status byte
*current++ = *prx++;
*current = *prx;
}
endTransaction();
#else
beginTransaction();
status = _SPI.transfer( R_RX_PAYLOAD );
while ( data_len-- ) {
*current++ = _SPI.transfer(0xFF);
}
while ( blank_len-- ) {
_SPI.transfer(0xff);
}
endTransaction();
#endif
return status;
}
/****************************************************************************/
uint8_t RF24::flush_rx(void)
{
return spiTrans( FLUSH_RX );
}
/****************************************************************************/
uint8_t RF24::flush_tx(void)
{
return spiTrans( FLUSH_TX );
}
/****************************************************************************/
uint8_t RF24::spiTrans(uint8_t cmd){
uint8_t status;
beginTransaction();
status = _SPI.transfer( cmd );
endTransaction();
return status;
}
/****************************************************************************/
uint8_t RF24::get_status(void)
{
return spiTrans(NOP);
}
/****************************************************************************/
#if !defined (MINIMAL)
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) & 0b111),
(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) & 0b1111,
(value >> ARC_CNT) & 0b1111
);
}
/****************************************************************************/
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);
#if defined (RF24_LINUX)
printf("%s\t =", name);
#else
printf_P(PSTR(PRIPSTR"\t ="),name);
#endif
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)
{
#if defined (RF24_LINUX)
printf("%s\t =",name);
#else
printf_P(PSTR(PRIPSTR"\t ="),name);
#endif
while (qty--)
{
uint8_t buffer[addr_width];
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"));
}
#endif
/****************************************************************************/
RF24::RF24(uint8_t _cepin, uint8_t _cspin):
ce_pin(_cepin), csn_pin(_cspin), p_variant(false),
payload_size(32), dynamic_payloads_enabled(false), addr_width(5)//,pipe0_reading_address(0)
{
pipe0_reading_address[0]=0;
}
/****************************************************************************/
#if defined (RF24_LINUX) && !defined (MRAA)//RPi constructor
RF24::RF24(uint8_t _cepin, uint8_t _cspin, uint32_t _spi_speed):
ce_pin(_cepin),csn_pin(_cspin),spi_speed(_spi_speed),p_variant(false), payload_size(32), dynamic_payloads_enabled(false),addr_width(5)//,pipe0_reading_address(0)
{
pipe0_reading_address[0]=0;
}
#endif
/****************************************************************************/
void RF24::setChannel(uint8_t channel)
{
const uint8_t max_channel = 125;
write_register(RF_CH,rf24_min(channel,max_channel));
}
uint8_t RF24::getChannel()
{
return read_register(RF_CH);
}
/****************************************************************************/
void RF24::setPayloadSize(uint8_t size)
{
payload_size = rf24_min(size,32);
}
/****************************************************************************/
uint8_t RF24::getPayloadSize(void)
{
return payload_size;
}
/****************************************************************************/
#if !defined (MINIMAL)
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 = "PA_HIGH";
static const char rf24_pa_dbm_e_str_3[] PROGMEM = "PA_MAX";
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,
};
#if defined (RF24_LINUX)
static const char rf24_csn_e_str_0[] = "CE0 (PI Hardware Driven)";
static const char rf24_csn_e_str_1[] = "CE1 (PI Hardware Driven)";
static const char rf24_csn_e_str_2[] = "CE2 (PI Hardware Driven)";
static const char rf24_csn_e_str_3[] = "Custom GPIO Software Driven";
static const char * const rf24_csn_e_str_P[] = {
rf24_csn_e_str_0,
rf24_csn_e_str_1,
rf24_csn_e_str_2,
rf24_csn_e_str_3,
};
#endif
void RF24::printDetails(void)
{
#if defined (RF24_RPi)
printf("================ SPI Configuration ================\n" );
if (csn_pin < BCM2835_SPI_CS_NONE ){
printf("CSN Pin \t = %s\n",rf24_csn_e_str_P[csn_pin]);
}else{
printf("CSN Pin \t = Custom GPIO%d%s\n", csn_pin,
csn_pin==RPI_V2_GPIO_P1_26 ? " (CE1) Software Driven" : "" );
}
printf("CE Pin \t = Custom GPIO%d\n", ce_pin );
printf("Clock Speed\t = " );
switch (spi_speed)
{
case BCM2835_SPI_SPEED_64MHZ : printf("64 Mhz"); break ;
case BCM2835_SPI_SPEED_32MHZ : printf("32 Mhz"); break ;
case BCM2835_SPI_SPEED_16MHZ : printf("16 Mhz"); break ;
case BCM2835_SPI_SPEED_8MHZ : printf("8 Mhz"); break ;
case BCM2835_SPI_SPEED_4MHZ : printf("4 Mhz"); break ;
case BCM2835_SPI_SPEED_2MHZ : printf("2 Mhz"); break ;
case BCM2835_SPI_SPEED_1MHZ : printf("1 Mhz"); break ;
case BCM2835_SPI_SPEED_512KHZ: printf("512 KHz"); break ;
case BCM2835_SPI_SPEED_256KHZ: printf("256 KHz"); break ;
case BCM2835_SPI_SPEED_128KHZ: printf("128 KHz"); break ;
case BCM2835_SPI_SPEED_64KHZ : printf("64 KHz"); break ;
case BCM2835_SPI_SPEED_32KHZ : printf("32 KHz"); break ;
case BCM2835_SPI_SPEED_16KHZ : printf("16 KHz"); break ;
case BCM2835_SPI_SPEED_8KHZ : printf("8 KHz"); break ;
default : printf("8 Mhz"); break ;
}
printf("\n================ NRF Configuration ================\n");
#endif //Linux
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\t"),TX_ADDR);
print_byte_register(PSTR("RX_PW_P0-6"),RX_PW_P0,6);
print_byte_register(PSTR("EN_AA\t"),EN_AA);
print_byte_register(PSTR("EN_RXADDR"),EN_RXADDR);
print_byte_register(PSTR("RF_CH\t"),RF_CH);
print_byte_register(PSTR("RF_SETUP"),RF_SETUP);
print_byte_register(PSTR("CONFIG\t"),NRF_CONFIG);
print_byte_register(PSTR("DYNPD/FEATURE"),DYNPD,2);
printf_P(PSTR("Data Rate\t = " PRIPSTR "\r\n"),pgm_read_word(&rf24_datarate_e_str_P[getDataRate()]));
printf_P(PSTR("Model\t\t = " PRIPSTR "\r\n"),pgm_read_word(&rf24_model_e_str_P[isPVariant()]));
printf_P(PSTR("CRC Length\t = " PRIPSTR "\r\n"),pgm_read_word(&rf24_crclength_e_str_P[getCRCLength()]));
printf_P(PSTR("PA Power\t = " PRIPSTR "\r\n"), pgm_read_word(&rf24_pa_dbm_e_str_P[getPALevel()]));
}
#endif
/****************************************************************************/
bool RF24::begin(void)
{
uint8_t setup=0;
#if defined (RF24_LINUX)
#if defined (MRAA)
GPIO();
gpio.begin(ce_pin,csn_pin);
#endif
#ifdef RF24_RPi
switch(csn_pin){ //Ensure valid hardware CS pin
case 0: break;
case 1: break;
// Allow BCM2835 enums for RPi
case 8: csn_pin = 0; break;
case 7: csn_pin = 1; break;
default: csn_pin = 0; break;
}
#endif
_SPI.begin(csn_pin);
pinMode(ce_pin,OUTPUT);
ce(LOW);
delay(100);
#elif defined(LITTLEWIRE)
pinMode(csn_pin,OUTPUT);
_SPI.begin();
csn(HIGH);
#elif defined(XMEGA_D3)
if (ce_pin != csn_pin) pinMode(ce_pin,OUTPUT);
_SPI.begin(csn_pin);
ce(LOW);
csn(HIGH);
delay(200);
#else
// Initialize pins
if (ce_pin != csn_pin) pinMode(ce_pin,OUTPUT);
#if ! defined(LITTLEWIRE)
if (ce_pin != csn_pin)
#endif
pinMode(csn_pin,OUTPUT);
_SPI.begin();
ce(LOW);
csn(HIGH);
#if defined (__ARDUINO_X86__)
delay(100);
#endif
#endif //Linux
// 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 ) ;
// Reset NRF_CONFIG and enable 16-bit CRC.
write_register( NRF_CONFIG, 0b00001100 ) ;
// 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.
setRetries(5,15);
// Reset value is MAX
//setPALevel( RF24_PA_MAX ) ;
// check for connected module and if this is a p nRF24l01 variant
//
if( setDataRate( RF24_250KBPS ) )
{
p_variant = true ;
}
setup = read_register(RF_SETUP);
/*if( setup == 0b00001110 ) // register default for nRF24L01P
{
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 - Reset value is 0
toggle_features();
write_register(FEATURE,0 );
write_register(DYNPD,0);
// Reset current status
// Notice reset and flush is the last thing we do
write_register(NRF_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();
powerUp(); //Power up by default when begin() is called
// Enable PTX, do not write CE high so radio will remain in standby I mode ( 130us max to transition to RX or TX instead of 1500us from powerUp )
// PTX should use only 22uA of power
write_register(NRF_CONFIG, ( read_register(NRF_CONFIG) ) & ~_BV(PRIM_RX) );
// if setup is 0 or ff then there was no response from module
return ( setup != 0 && setup != 0xff );
}
/****************************************************************************/
void RF24::startListening(void)
{
#if !defined (RF24_TINY) && ! defined(LITTLEWIRE)
powerUp();
#endif
write_register(NRF_CONFIG, read_register(NRF_CONFIG) | _BV(PRIM_RX));
write_register(NRF_STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
ce(HIGH);
// Restore the pipe0 adddress, if exists
if (pipe0_reading_address[0] > 0){
write_register(RX_ADDR_P0, pipe0_reading_address, addr_width);
}else{
closeReadingPipe(0);
}
// Flush buffers
//flush_rx();
if(read_register(FEATURE) & _BV(EN_ACK_PAY)){
flush_tx();
}
// Go!
//delayMicroseconds(100);
}
/****************************************************************************/
static const uint8_t child_pipe_enable[] PROGMEM =
{
ERX_P0, ERX_P1, ERX_P2, ERX_P3, ERX_P4, ERX_P5
};
void RF24::stopListening(void)
{
ce(LOW);
delayMicroseconds(txRxDelay);
if(read_register(FEATURE) & _BV(EN_ACK_PAY)){
delayMicroseconds(txRxDelay); //200
flush_tx();
}
//flush_rx();
write_register(NRF_CONFIG, ( read_register(NRF_CONFIG) ) & ~_BV(PRIM_RX) );
#if defined (RF24_TINY) || defined (LITTLEWIRE)
// for 3 pins solution TX mode is only left with additonal powerDown/powerUp cycle
if (ce_pin == csn_pin) {
powerDown();
powerUp();
}
#endif
write_register(EN_RXADDR,read_register(EN_RXADDR) | _BV(pgm_read_byte(&child_pipe_enable[0]))); // Enable RX on pipe0
//delayMicroseconds(100);
}
/****************************************************************************/
void RF24::powerDown(void)
{
ce(LOW); // Guarantee CE is low on powerDown
write_register(NRF_CONFIG,read_register(NRF_CONFIG) & ~_BV(PWR_UP));
}
/****************************************************************************/
//Power up now. Radio will not power down unless instructed by MCU for config changes etc.
void RF24::powerUp(void)
{
uint8_t cfg = read_register(NRF_CONFIG);
// if not powered up then power up and wait for the radio to initialize
if (!(cfg & _BV(PWR_UP))){
write_register(NRF_CONFIG, cfg | _BV(PWR_UP));
// For nRF24L01+ to go from power down mode to TX or RX mode it must first pass through stand-by mode.
// There must be a delay of Tpd2stby (see Table 16.) after the nRF24L01+ leaves power down mode before
// the CEis set high. - Tpd2stby can be up to 5ms per the 1.0 datasheet
delay(5);
}
}
/******************************************************************/
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
void RF24::errNotify(){
#if defined (SERIAL_DEBUG) || defined (RF24_LINUX)
printf_P(PSTR("RF24 HARDWARE FAIL: Radio not responding, verify pin connections, wiring, etc.\r\n"));
#endif
#if defined (FAILURE_HANDLING)
failureDetected = 1;
#else
delay(5000);
#endif
}
#endif
/******************************************************************/
//Similar to the previous write, clears the interrupt flags
bool RF24::write( const void* buf, uint8_t len, const bool multicast )
{
//Start Writing
startFastWrite(buf,len,multicast);
//Wait until complete or failed
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
uint32_t timer = millis();
#endif
while( ! ( get_status() & ( _BV(TX_DS) | _BV(MAX_RT) ))) {
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
if(millis() - timer > 95){
errNotify();
#if defined (FAILURE_HANDLING)
return 0;
#else
delay(100);
#endif
}
#endif
}
ce(LOW);
uint8_t status = write_register(NRF_STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
//Max retries exceeded
if( status & _BV(MAX_RT)){
flush_tx(); //Only going to be 1 packet int the FIFO at a time using this method, so just flush
return 0;
}
//TX OK 1 or 0
return 1;
}
bool RF24::write( const void* buf, uint8_t len ){
return write(buf,len,0);
}
/****************************************************************************/
//For general use, the interrupt flags are not important to clear
bool RF24::writeBlocking( const void* buf, uint8_t len, uint32_t timeout )
{
//Block until the FIFO is NOT full.
//Keep track of the MAX retries and set auto-retry if seeing failures
//This way the FIFO will fill up and allow blocking until packets go through
//The radio will auto-clear everything in the FIFO as long as CE remains high
uint32_t timer = millis(); //Get the time that the payload transmission started
while( ( get_status() & ( _BV(TX_FULL) ))) { //Blocking only if FIFO is full. This will loop and block until TX is successful or timeout
if( get_status() & _BV(MAX_RT)){ //If MAX Retries have been reached
reUseTX(); //Set re-transmit and clear the MAX_RT interrupt flag
if(millis() - timer > timeout){ return 0; } //If this payload has exceeded the user-defined timeout, exit and return 0
}
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
if(millis() - timer > (timeout+95) ){
errNotify();
#if defined (FAILURE_HANDLING)
return 0;
#endif
}
#endif
}
//Start Writing
startFastWrite(buf,len,0); //Write the payload if a buffer is clear
return 1; //Return 1 to indicate successful transmission
}
/****************************************************************************/
void RF24::reUseTX(){
write_register(NRF_STATUS,_BV(MAX_RT) ); //Clear max retry flag
spiTrans( REUSE_TX_PL );
ce(LOW); //Re-Transfer packet
ce(HIGH);
}
/****************************************************************************/
bool RF24::writeFast( const void* buf, uint8_t len, const bool multicast )
{
//Block until the FIFO is NOT full.
//Keep track of the MAX retries and set auto-retry if seeing failures
//Return 0 so the user can control the retrys and set a timer or failure counter if required
//The radio will auto-clear everything in the FIFO as long as CE remains high
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
uint32_t timer = millis();
#endif
while( ( get_status() & ( _BV(TX_FULL) ))) { //Blocking only if FIFO is full. This will loop and block until TX is successful or fail
if( get_status() & _BV(MAX_RT)){
//reUseTX(); //Set re-transmit
write_register(NRF_STATUS,_BV(MAX_RT) ); //Clear max retry flag
return 0; //Return 0. The previous payload has been retransmitted
//From the user perspective, if you get a 0, just keep trying to send the same payload
}
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
if(millis() - timer > 95 ){
errNotify();
#if defined (FAILURE_HANDLING)
return 0;
#endif
}
#endif
}
//Start Writing
startFastWrite(buf,len,multicast);
return 1;
}
bool RF24::writeFast( const void* buf, uint8_t len ){
return writeFast(buf,len,0);
}
/****************************************************************************/
//Per the documentation, we want to set PTX Mode when not listening. Then all we do is write data and set CE high
//In this mode, if we can keep the FIFO buffers loaded, packets will transmit immediately (no 130us delay)
//Otherwise we enter Standby-II mode, which is still faster than standby mode
//Also, we remove the need to keep writing the config register over and over and delaying for 150 us each time if sending a stream of data
void RF24::startFastWrite( const void* buf, uint8_t len, const bool multicast, bool startTx){ //TMRh20
//write_payload( buf,len);
write_payload( buf, len,multicast ? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD ) ;
if(startTx){
ce(HIGH);
}
}
/****************************************************************************/
//Added the original startWrite back in so users can still use interrupts, ack payloads, etc
//Allows the library to pass all tests
void RF24::startWrite( const void* buf, uint8_t len, const bool multicast ){
// Send the payload
//write_payload( buf, len );
write_payload( buf, len,multicast? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD ) ;
ce(HIGH);
#if defined(CORE_TEENSY) || !defined(ARDUINO) || defined (RF24_SPIDEV) || defined (RF24_DUE)
delayMicroseconds(10);
#endif
ce(LOW);
}
/****************************************************************************/
bool RF24::rxFifoFull(){
return read_register(FIFO_STATUS) & _BV(RX_FULL);
}
/****************************************************************************/
bool RF24::txStandBy(){
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
uint32_t timeout = millis();
#endif
while( ! (read_register(FIFO_STATUS) & _BV(TX_EMPTY)) ){
if( get_status() & _BV(MAX_RT)){
write_register(NRF_STATUS,_BV(MAX_RT) );
ce(LOW);
flush_tx(); //Non blocking, flush the data
return 0;
}
#if defined (FAILURE_HANDLING) || defined (RF24_LINUX)
if( millis() - timeout > 95){
errNotify();
#if defined (FAILURE_HANDLING)
return 0;
#endif
}
#endif
}
ce(LOW); //Set STANDBY-I mode
return 1;
}
/****************************************************************************/
bool RF24::txStandBy(uint32_t timeout, bool startTx){
if(startTx){
stopListening();
ce(HIGH);
}
uint32_t start = millis();
while( ! (read_register(FIFO_STATUS) & _BV(TX_EMPTY)) ){
if( get_status() & _BV(MAX_RT)){
write_register(NRF_STATUS,_BV(MAX_RT) );
ce(LOW); //Set re-transmit