Merge branch 'master' into master

.gitignore

@@ -13,5 +13,12 @@ out_native/
 version.h
 Session.vim
 *.so
+*.so.*
 *.dylib
+*.dylib.*
 .DS_Store
+Makefile.inc
+utility/includes.h
+examples_linux/*
+!examples_linux/**/
+!examples_linux/*.*

Doxyfile

@@ -897,7 +897,7 @@ EXCLUDE_SYMBOLS        =
 # command).
 
 EXAMPLE_PATH           = examples \
-                         examples_RPi
+                         examples_linux
 
 # If the value of the EXAMPLE_PATH tag contains directories, you can use the
 # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and

RF24.cpp

@@ -50,7 +50,7 @@ void RF24::csn(bool mode)
 
 #if !defined (RF24_LINUX)
 	digitalWrite(csn_pin,mode);
-	delayMicroseconds(5);
+	delayMicroseconds(csDelay);
 #endif
 
 }
@@ -357,7 +357,7 @@ void RF24::print_status(uint8_t 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 >> RX_P_NO) & 0x07),
            (status & _BV(TX_FULL))?1:0
           );
 }
@@ -368,8 +368,8 @@ 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
+           (value >> PLOS_CNT) & 0x0F,
+           (value >> ARC_CNT) & 0x0F
           );
 }
 
@@ -417,7 +417,7 @@ void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
 
 RF24::RF24(uint16_t _cepin, uint16_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)
+  payload_size(32), dynamic_payloads_enabled(false), addr_width(5),csDelay(5)//,pipe0_reading_address(0)
 {
   pipe0_reading_address[0]=0;
 }
@@ -425,6 +425,7 @@ RF24::RF24(uint16_t _cepin, uint16_t _cspin):
 /****************************************************************************/
 
 #if defined (RF24_LINUX) && !defined (MRAA)//RPi constructor
+
 RF24::RF24(uint16_t _cepin, uint16_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) 
 {
@@ -602,6 +603,12 @@ bool RF24::begin(void)
     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);  
@@ -628,7 +635,7 @@ bool RF24::begin(void)
   delay( 5 ) ;
 
   // Reset NRF_CONFIG and enable 16-bit CRC.
-  write_register( NRF_CONFIG, 0b00001100 ) ;
+  write_register( NRF_CONFIG, 0x0C ) ;
 
   // 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
@@ -661,6 +668,7 @@ bool RF24::begin(void)
   toggle_features();
   write_register(FEATURE,0 );
   write_register(DYNPD,0);
+  dynamic_payloads_enabled = false;
 
   // Reset current status
   // Notice reset and flush is the last thing we do
@@ -722,10 +730,10 @@ void RF24::stopListening(void)
 {  
   ce(LOW);
 
-  delayMicroseconds(txRxDelay);
+  delayMicroseconds(txDelay);
   
   if(read_register(FEATURE) & _BV(EN_ACK_PAY)){
-    delayMicroseconds(txRxDelay); //200
+    delayMicroseconds(txDelay); //200
 	flush_tx();
   }
   //flush_rx();
@@ -1065,7 +1073,7 @@ bool RF24::available(uint8_t* pipe_num)
     // If the caller wants the pipe number, include that
     if ( pipe_num ){
 	  uint8_t status = get_status();
-      *pipe_num = ( status >> RX_P_NO ) & 0b111;
+      *pipe_num = ( status >> RX_P_NO ) & 0x07;
   	}
   	return 1;
   }
@@ -1175,7 +1183,10 @@ void RF24::setAddressWidth(uint8_t a_width){
 	if(a_width -= 2){
 		write_register(SETUP_AW,a_width%4);
 		addr_width = (a_width%4) + 2;
-	}
+	}else{
+        write_register(SETUP_AW,0);
+        addr_width = 2;
+    }
 
 }
 
@@ -1292,7 +1303,7 @@ void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
     beginTransaction();
     uint8_t * ptx = spi_txbuff;
     uint8_t size = data_len + 1 ; // Add register value to transmit buffer
-	*ptx++ =  W_ACK_PAYLOAD | ( pipe & 0b111 );
+	*ptx++ =  W_ACK_PAYLOAD | ( pipe & 0x07 );
     while ( data_len-- ){
       *ptx++ =  *current++;
     }
@@ -1301,7 +1312,7 @@ void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
 	endTransaction();
   #else
   beginTransaction();
-  _SPI.transfer(W_ACK_PAYLOAD | ( pipe & 0b111 ) );
+  _SPI.transfer(W_ACK_PAYLOAD | ( pipe & 0x07 ) );
 
   while ( data_len-- )
     _SPI.transfer(*current++);
@@ -1330,7 +1341,7 @@ bool RF24::isPVariant(void)
 void RF24::setAutoAck(bool enable)
 {
   if ( enable )
-    write_register(EN_AA, 0b111111);
+    write_register(EN_AA, 0x3F);
   else
     write_register(EN_AA, 0);
 }
@@ -1373,7 +1384,7 @@ bool RF24::testRPD(void)
 void RF24::setPALevel(uint8_t level)
 {
 
-  uint8_t setup = read_register(RF_SETUP) & 0b11111000;
+  uint8_t setup = read_register(RF_SETUP) & 0xF8;
 
   if(level > 3){  						// If invalid level, go to max PA
 	  level = (RF24_PA_MAX << 1) + 1;		// +1 to support the SI24R1 chip extra bit
@@ -1404,9 +1415,9 @@ bool RF24::setDataRate(rf24_datarate_e speed)
   setup &= ~(_BV(RF_DR_LOW) | _BV(RF_DR_HIGH)) ;
   
   #if defined(__arm__) || defined (RF24_LINUX) || defined (__ARDUINO_X86__)
-    txRxDelay=250;
+    txDelay=250;
   #else //16Mhz Arduino
-    txRxDelay=85;
+    txDelay=85;
   #endif
   if( speed == RF24_250KBPS )
   {
@@ -1414,9 +1425,9 @@ bool RF24::setDataRate(rf24_datarate_e speed)
     // Making it '10'.
     setup |= _BV( RF_DR_LOW ) ;
   #if defined(__arm__) || defined (RF24_LINUX) || defined (__ARDUINO_X86__)
-    txRxDelay=450;
+    txDelay=450;
   #else //16Mhz Arduino
-	txRxDelay=155;
+	txDelay=155;
   #endif
   }
   else
@@ -1427,9 +1438,9 @@ bool RF24::setDataRate(rf24_datarate_e speed)
     {
       setup |= _BV(RF_DR_HIGH);
       #if defined(__arm__) || defined (RF24_LINUX) || defined (__ARDUINO_X86__)
-      txRxDelay=190;
+      txDelay=190;
       #else //16Mhz Arduino	  
-	  txRxDelay=65;
+	  txDelay=65;
 	  #endif
     }
   }

RF24_config.h

@@ -28,8 +28,14 @@
   #if defined SPI_HAS_TRANSACTION && !defined SPI_UART && !defined SOFTSPI
     #define RF24_SPI_TRANSACTIONS
   #endif
-  
-#if ( !defined (ARDUINO) ) // Any non-arduino device is handled via configure/Makefile
+ 
+ 
+//ATXMega
+#if defined(__AVR_ATxmega64D3__) || defined(__AVR_ATxmega128D3__) || defined(__AVR_ATxmega192D3__) || defined(__AVR_ATxmega256D3__) || defined(__AVR_ATxmega384D3__) // In order to be available both in windows and linux this should take presence here.
+  #define XMEGA
+  #define XMEGA_D3
+  #include "utility/ATXMegaD3/RF24_arch_config.h"
+#elif ( !defined (ARDUINO) ) // Any non-arduino device is handled via configure/Makefile
 
   // The configure script detects device and copies the correct includes.h file to /utility/includes.h
   // This behavior can be overridden by calling configure with respective parameters
@@ -41,6 +47,12 @@
   #define RF24_TINY
   #include "utility/ATTiny/RF24_arch_config.h"
 
+
+//LittleWire  
+#elif defined(LITTLEWIRE)
+  
+  #include "utility/LittleWire/RF24_arch_config.h"
+
 //Teensy  
 #elif defined (TEENSYDUINO)
 
@@ -78,17 +90,19 @@
 
 
  #if defined(__arm__) || defined (__ARDUINO_X86__)
-   #include <SPI.h>
+   #if defined (__arm__) && defined (SPI_UART)
+		#include <SPI_UART.h>
+		#define _SPI uspi
+   #else
+     #include <SPI.h>
+     #define _SPI SPI
+   #endif
+ #elif !defined(__arm__) && !defined (__ARDUINO_X86__)
+   extern HardwareSPI SPI;
  #endif
-
  
  #define _BV(x) (1<<(x))
- #if !defined(__arm__) && !defined (__ARDUINO_X86__)
-   extern HardwareSPI SPI;
- #endif
-
-
-  #define _SPI SPI
+  
 #endif
 
   #ifdef SERIAL_DEBUG
@@ -119,7 +133,7 @@
   #define pgm_read_word(p) (*(p))
   #define PRIPSTR "%s"
 
-#elif defined(ARDUINO) && ! defined(__arm__) && !defined (__ARDUINO_X86__)
+#elif defined(ARDUINO) && ! defined(__arm__) && !defined (__ARDUINO_X86__) || defined(XMEGA)
 	#include <avr/pgmspace.h>
 	#define PRIPSTR "%S"
 #else

configure

@@ -17,7 +17,7 @@ Driver options:
 
 Building options:
     --os=[LINUX|DARWIN]         Operating system. [configure autodetected]
-    --soc=[BCM2835|BCM2836|AM33XX|A10|A13|A20]
+    --soc=[BCM2835|BCM2836|AM33XX|A10|A13|A20|H3]
                                 SoC type to be used. [configure autodetected]
     --cpu-flags=<CFLAGS>        CPU defining/optimizing flags to be used. [configure autodetected]
     --extra-cflags=<CFLAGS>     Extra C flags passed to C/C++ compilation. []
@@ -64,10 +64,12 @@ function die {
 function detect_machine {
     local cpu=$(execute_check "uname -m 2>/dev/null")
     local machine=$(execute_check "cat /sys/firmware/devicetree/base/model 2>/dev/null")
-    local hardware=$(execute_check "grep Hardware /proc/cpuinfo 2>/dev/null")
+    local hardware=$(execute_check "grep sunxi_platform /sys/class/sunxi_info/sys_info 2>/dev/null | sed 's/^.*: \(.*\)$/\1/'")
+    if [ -z "$hardware" ]; then
+        local hardware=$(execute_check "grep Hardware /proc/cpuinfo 2>/dev/null | sed 's/^.*: \(.*\)$/\1/'")
+    fi
     local soc="unknown"
     local tp="unknown"
-    hardware=$(echo ${hardware/*:/} | sed 's/^ *//g')
 
     if [ -z "$cpu" ]; then
         cpu="unknown"
@@ -86,16 +88,25 @@ function detect_machine {
             tp="RPi2"
         fi
         ;;
-    sun4i)
+    sun4i|Sun4iw1p1)
         soc="A10"
         ;;
-    sun5i)
+    sun5i|Sun4iw2p1)
         soc="A13"
         ;;
-    sun6i)
+    Sun4iw2p2)
+        soc="A12"
+        ;;
+    Sun4iw2p3)
+        soc="A10s"
+        ;;
+    sun6i|Sun8iw1p1)
         soc="A31"
         ;;
-    sun7i)
+    Sun8iw1p2)
+        soc="A31s"
+        ;;
+    sun7i|Sun8iw2p1)
         soc="A20"
         if [[ $machine == "Banana Pi"* ]]; then
             tp="BananaPi"
@@ -103,13 +114,25 @@ function detect_machine {
             tp="BananaPro"
         fi
         ;;
-    sun8i)
+    sun8i|Sun8iw7p1)
+        soc="H3"
+        ;;
+    Sun8iw3p1)
         soc="A23"
         ;;
-    sun9i)
+    Sun8iw5p1)
+        soc="A33"
+        ;;
+    Sun8iw6p1)
+        soc="A83t"
+        ;;
+    sun9i|Sun9iw1p1)
         soc="A80"
         ;;
-    sun50i)
+    Sun9iw1p2)
+        soc="A80t"
+        ;;
+    sun50i|Sun50iw1p1)
         soc="A64"
         ;;
     'Generic AM33XX'*)
@@ -142,6 +165,9 @@ function gcc_cpu_flags {
     A20)
         flags="-march=armv7-a -mtune=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard"
         ;;
+    H3)
+        flags="-march=armv8-a -mtune=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard"
+        ;;
     *)
         flags=""
     esac
@@ -398,11 +424,11 @@ fi
 case ${OS} in
 LINUX)
     DYN_SUFFIX=so
-    SHARED_LINKER_FLAGS+=" -shared -Wl,-soname,lib${LIB}.${DYN_SUFFIX}"
+    SHARED_LINKER_FLAGS+=" -shared -Wl,-soname,lib${LIB}.${DYN_SUFFIX}.${LIB_VERSION%%.*}"
     ;;
 DARWIN)
     DYN_SUFFIX=dylib
-    SHARED_LINKER_FLAGS+=" -dynamiclib -install_name ${LIB_DIR}/lib${LIB}.${DYN_SUFFIX}"
+    SHARED_LINKER_FLAGS+=" -dynamiclib -install_name ${LIB_DIR}/lib${LIB}.${DYN_SUFFIX}.${LIB_VERSION%%.*}"
     ;;
 *)
     die "Unsupported OS: ${OS}." 3

examples/scanner/scanner.ino

@@ -62,6 +62,8 @@ void setup(void)
   radio.startListening();
   radio.stopListening();
 
+  radio.printDetails();
+
   // Print out header, high then low digit
   int i = 0;
   while ( i < num_channels )
@@ -102,14 +104,13 @@ void loop(void)
 
       // Listen for a little
       radio.startListening();
-      delayMicroseconds(225);
-      
+      delayMicroseconds(128);
+      radio.stopListening();
 
       // Did we get a carrier?
       if ( radio.testCarrier() ){
         ++values[i];
       }
-      radio.stopListening();
     }
   }
 

examples_linux/extra/scanner.cpp

@@ -42,8 +42,10 @@ using namespace std;
 //RF24 radio(RPI_V2_GPIO_P1_15, BCM2835_SPI_CS0, BCM2835_SPI_SPEED_4MHZ); 
 
 // Setup for GPIO 22 CE and CE1 CSN with SPI Speed @ 8Mhz
-RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);  
+//RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);  
 
+// Generic setup
+RF24 radio(22, 0);
 
 //
 // Channel info
@@ -97,49 +99,44 @@ int main(int argc, char** argv)
   }
   printf("\n");       
 	
-	// forever loop
+  // forever loop
   while(1)
-	{
-		if ( reset_array == 1 )
-		{	
-			// Clear measurement values
-			memset(values,0,sizeof(values));
-			printf("\n");
-		}
-
-		// Scan all channels num_reps times
-		int i = num_channels;
-		while (i--)
-		{
-			// Select this channel
-			radio.setChannel(i);
-
-			// Listen for a little
-			radio.startListening();
-			delayMicroseconds(128);
-			//radio.stopListening();
-
-			// Did we get a carrier?
-			if ( radio.testCarrier() )
-					++values[i];
-			if ( values[i] == 0xf ) 
-			{
-				reset_array = 2;
-			}
-			radio.stopListening();
-		}
-
-		// Print out channel measurements, clamped to a single hex digit
-		i = 0;
-		while ( i < num_channels )
-		{
-			printf("%x",min(0xf,(values[i]&0xf)));
-			++i;
-		}
-		
-		printf("\n");
-	}
-	
+  {
+    // Clear measurement values
+    memset(values,0,sizeof(values));
+
+    // Scan all channels num_reps times
+    int rep_counter = num_reps;
+    while(rep_counter--)
+    {
+
+      int i = num_channels;
+      while (i--)
+      {
+
+        // Select this channel
+	radio.setChannel(i);
+
+	// Listen for a little
+	radio.startListening();
+	delayMicroseconds(128);
+	radio.stopListening();
+
+	// Did we get a carrier?
+	if ( radio.testCarrier() ) ++values[i];
+      }
+    }
+
+    // Print out channel measurements, clamped to a single hex digit
+    i = 0;
+    while ( i < num_channels )
+    {
+      printf("%x",min(0xf,(values[i]&0xf)));
+      ++i;
+    }
+    printf("\n");
+  }
+
   return 0;
 }
 

library.json

@@ -7,15 +7,7 @@
     "type": "git",
     "url": "https://github.com/TMRh20/RF24.git"
   },
-  "include": [
-    "*.h",
-    "*.c",
-    "*.cpp",
-    "arch/ATTiny/*",
-    "arch/Due/*",
-    "arch/Teensy/*",
-    "examples/*/*.ino"
-  ],
+  "version": "1.1.7",
   "frameworks": "arduino",
   "platforms": [
     "atmelavr",

library.properties

 name=RF24
-version=1.1.6
+version=1.2.0
 author=TMRh20
 maintainer=TMRh20
 sentence=A library for NRF24L01(+) communication.

utility/ATXMegaD3/README.md

+This is a fork from **http://tmrh20.github.io/RF24** which can be build as a static library for Atmel Studio 7.
+
+Not all files are needed.
+
+Just copy the following structure into a GCC Static Library project in AS7:
+```
+utility\
+  ATXMega256D3\
+    compatibility.c
+    compatibility.h
+    gpio.cpp
+    gpio.h
+    gpio_helper.c
+    gpio_helper.h
+    includes.h
+    RF24_arch_config.h
+    spi.cpp
+    spi.h
+nRF24L01.h
+printf.h
+RF24.cpp
+RF24.h
+RF24_config.h
+```
+
+Only ATXMega256D3 is supported right now!
+
+## Notes
+The millisecond functionality is based on the TCE0 so don't use these pins as IO.
+
+The operating frequency of the uC is 32MHz. If else change the TCE0 registers appropriatly in function **__start_timer()** in **compatibility.c** file for your frequency. 
+
+
+## Usage
+Add the library to your project!
+In the file where the **main()** is put the following in order to update the millisecond functionality:
+```
+ISR(TCE0_OVF_vect)
+{
+	update_milisec();
+}
+```
+
+Declare the rf24 radio with **RF24 radio(XMEGA_PORTC_PIN3, XMEGA_SPI_PORT_C);**
+
+First parameter is the CE pin which can be any available pin on the uC.
+
+Second parameter is the CS which can be on port C (**XMEGA_SPI_PORT_C**) or on port D (**XMEGA_SPI_PORT_D**). 
+
+Call the **__start_timer()** to start the millisecond timer.
+
+
+
+** For further information please see http://tmrh20.github.io/RF24 for all documentation**

utility/ATXMegaD3/RF24_arch_config.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.
+
+ */
+ 
+ /**
+ * @file RF24_arch_config.h
+ * General defines and includes for RF24/Linux
+ */
+
+ /**
+ * Example of RF24_arch_config.h for RF24 portability
+ *
+ * @defgroup Porting_General Porting: General
+ *
+ * 
+ * @{
+ */
+ 
+ 
+#ifndef __RF24_ARCH_CONFIG_H__
+#define __RF24_ARCH_CONFIG_H__
+
+#include <stddef.h>
+#include <avr/pgmspace.h>
+#include "spi.h"
+#include "gpio.h"
+#include "compatibility.h"
+#include <stdint.h>
+#include <stdio.h>
+//#include <time.h>
+#include <string.h>
+//#include <sys/time.h>
+
+//#define _BV(x) (1<<(x))
+#define _SPI spi
+
+#undef SERIAL_DEBUG
+#ifdef SERIAL_DEBUG
+#define IF_SERIAL_DEBUG(x) ({x;})
+#else
+#define IF_SERIAL_DEBUG(x)
+#endif
+
+// Use the avr pgmspace commands
+//// 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
+
+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"
+//#define pgm_read_byte(p) (*(p))
+
+// Function, constant map as a result of migrating from Arduino
+#define LOW GPIO::OUTPUT_LOW
+#define HIGH GPIO::OUTPUT_HIGH
+#define INPUT GPIO::DIRECTION_IN
+#define OUTPUT GPIO::DIRECTION_OUT
+#define digitalWrite(pin, value) GPIO::write(pin, value)
+#define pinMode(pin, direction) GPIO::open(pin, direction)
+#define delay(milisec) __msleep(milisec)
+#define delayMicroseconds(usec) __usleep(usec)
+#define millis() __millis()
+
+
+#endif // __RF24_ARCH_CONFIG_H__
+
+
+/*@}*/	

utility/ATXMegaD3/compatibility.c

+/*
+ * compatibility.c
+ *
+ * Created: 19/1/2016 15:31:35
+ *  Author: akatran
+ */ 
+
+#include <avr/io.h>
+#include <stdint.h>
+#include <util/delay.h>
+
+volatile uint32_t _millis;
+
+void __msleep(int milisec)
+{
+	while(milisec-- >0)
+	{
+		_delay_ms(1);
+	}
+}
+
+void __usleep(int usec)
+{
+	while(usec-- >0)
+	{
+		_delay_us(1);
+	}
+}
+
+
+void __start_timer()
+{
+	
+	// Timer details : Clock is 32MHz, Timer resolution is 8bit, Prescaler is 256, Period is 124, Real Time is 0.001s
+
+	/* Set the timer to run at the fastest rate. */
+	TCE0.CTRLA = TC_CLKSEL_DIV256_gc;
+
+	/* Configure the timer for normal counting. */
+	TCE0.CTRLB = TC_WGMODE_NORMAL_gc;
+
+	/* At 2 MHz, one tick is 0.5 us.  Set period to 8 us. */
+	TCE0.PER = 124;
+	//TCC0.PER = 2;
+
+	/* Configure timer to generate an interrupt on overflow. */
+	TCE0.INTCTRLA = TC_OVFINTLVL_HI_gc;
+
+	/* Enable this interrupt level. */
+	PMIC.CTRL = PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
+	
+	_millis=0;
+}
+
+long __millis()
+{
+	return _millis;
+}
+
+void update_milisec()
+{
+	_millis++;
+}
+
+
+
+

utility/ATXMegaD3/compatibility.h

+/* 
+ * File:   compatiblity.h
+ * Author: purinda
+ *
+ * Created on 24 June 2012, 3:08 PM
+ */
+
+ /**
+ * @file compatibility.h
+ * Class declaration for SPI helper files
+ */
+
+ /**
+ * Example of compatibility.h class declaration for timing functions portability
+ *
+ * @defgroup Porting_Timing Porting: Timing
+ *
+ * 
+ * @{
+ */
+ 
+#ifndef COMPATIBLITY_H
+#define	COMPATIBLITY_H
+
+#ifdef	__cplusplus
+extern "C" {
+#endif
+	
+#include <stddef.h>
+//#include <time.h>
+//#include <sys/time.h>
+
+void __msleep(int milisec);
+void __usleep(int usec);
+void __start_timer();
+long __millis();
+void update_milisec();
+
+#ifdef	__cplusplus
+}
+#endif
+
+#endif	/* COMPATIBLITY_H */
+
+/*@}*/	
\ No newline at end of file

utility/ATXMegaD3/gpio.cpp

+/*
+ * gpio.cpp
+ *
+ * Created: 20/1/2016 11:57:21
+ *  Author: akatran
+ */ 
+
+//#include "gpio_helper.h"
+#include "gpio.h"
+#include <stdlib.h>
+
+void GPIO::open(int port, int DDR)
+{
+	uint8_t pin;
+	PORT_t * p = GPIO_getPort(port,&pin);
+	if (DDR==0)
+	{
+		p->DIRCLR=pin;
+	}else if (DDR==1)
+	{
+		p->DIRSET = pin;	
+	}
+}
+
+void GPIO::close(int port)
+{
+	// Nothing to do with close;
+}
+
+int read(int port)
+{
+	uint8_t pin;
+	PORT_t * p = GPIO_getPort(port,&pin);
+	return p->IN;
+}
+
+void GPIO::write(int port,int value)
+{
+	uint8_t pin;
+	PORT_t * p = GPIO_getPort(port,&pin);
+	if (value==0)
+	{
+		p->OUTCLR=pin;
+	}else if (value==1)
+	{
+		p->OUTSET = pin;	
+	}
+	
+}
+

utility/ATXMegaD3/gpio.h

+
+
+/**
+ * @file gpio.h
+ * Class declaration for SPI helper files
+ */
+
+ /**
+ * Example of gpio.h class declaration for GPIO portability
+ *
+ * @defgroup Porting_GPIO Porting: GPIO
+ *
+ * 
+ * @{
+ */
+#ifndef GPIO_H
+#define	GPIO_H
+
+#include <avr/io.h>
+#include "gpio_helper.h"
+
+
+class GPIO {
+public:
+ 	/* Constants */
+	static const int DIRECTION_OUT = 1;
+	static const int DIRECTION_IN = 0;
+	
+	static const int OUTPUT_HIGH = 1;
+	static const int OUTPUT_LOW = 0;
+		
+	GPIO();
+	
+	/**
+	 * Similar to Arduino pinMode(pin,mode);
+     * @param port
+     * @param DDR
+     */
+	static void open(int port, int DDR);
+	/**
+	 * 
+     * @param port
+     */
+	static void close(int port);
+	/**
+	 * Similar to Arduino digitalRead(pin);
+     * @param port
+     * @param value
+     */
+	static int read(int port);
+	/**
+	* Similar to Arduino digitalWrite(pin,state);
+	* @param port
+	* @param value
+	*/	
+	static void write(int port,int value);	
+	
+	virtual ~GPIO();
+
+};
+
+#endif	/* GPIO_H */
+/*@}*/	
\ No newline at end of file

utility/ATXMegaD3/gpio_helper.c

+/*
+ * gpio_helper.c
+ *
+ * Created: 22/1/2016 15:28:48
+ *  Author: akatran
+ */ 
+
+#include "gpio_helper.h"
+
+/**
+* Get the port corresponding in portnum. Default is PORTC.
+*/
+PORT_t * GPIO_getPort(int pinnum, uint8_t * pin_bm)
+//PORT_t * GPIO_getPort(int portnum)
+{
+	PORT_t * port = &PORTC;
+	if ( (pinnum >= XMEGA_PORTA_PIN0) && (pinnum<= XMEGA_PORTA_PIN7) )
+	{
+		port = &PORTA;
+		*pin_bm = (1<<pinnum);
+	}else if ( (pinnum >= XMEGA_PORTB_PIN0) && (pinnum<= XMEGA_PORTB_PIN7) )
+	{
+		port = &PORTB;
+		*pin_bm = (1<<(pinnum-8));
+	}else if ( (pinnum >= XMEGA_PORTC_PIN0) && (pinnum<= XMEGA_PORTC_PIN7) )
+	{
+		port = &PORTC;
+		*pin_bm = (1<<(pinnum-16));
+	}else if ( (pinnum >= XMEGA_PORTD_PIN0) && (pinnum<= XMEGA_PORTD_PIN7) )
+	{
+		port = &PORTD;
+		*pin_bm = (1<<(pinnum-24));
+	}else if ( (pinnum >= XMEGA_PORTE_PIN0) && (pinnum<= XMEGA_PORTE_PIN7) )
+	{
+		port = &PORTE;
+		*pin_bm = (1<<(pinnum-32));
+	}else if ( (pinnum >= XMEGA_PORTF_PIN0) && (pinnum<= XMEGA_PORTF_PIN7) )
+	{
+		port = &PORTF;
+		*pin_bm = (1<<(pinnum-40));
+	}
+
+	return port;
+
+}
\ No newline at end of file

utility/ATXMegaD3/gpio_helper.h

+/*
+ * gpio_helper.h
+ *
+ * Created: 22/1/2016 15:29:12
+ *  Author: akatran
+ */ 
+
+
+#ifndef GPIO_HELPER_H_
+#define GPIO_HELPER_H_
+
+#include <avr/io.h>
+
+#ifdef	__cplusplus
+extern "C" {
+#endif
+
+/* Defines */
+
+
+#define XMEGA_PORTA_PIN0   0
+#define XMEGA_PORTA_PIN1   1
+#define XMEGA_PORTA_PIN2   2
+#define XMEGA_PORTA_PIN3   3
+#define XMEGA_PORTA_PIN4   4
+#define XMEGA_PORTA_PIN5   5
+#define XMEGA_PORTA_PIN6   6
+#define XMEGA_PORTA_PIN7   7
+
+#define XMEGA_PORTB_PIN0   8
+#define XMEGA_PORTB_PIN1   9
+#define XMEGA_PORTB_PIN2  10
+#define XMEGA_PORTB_PIN3  11
+#define XMEGA_PORTB_PIN4  12
+#define XMEGA_PORTB_PIN5  13
+#define XMEGA_PORTB_PIN6  14
+#define XMEGA_PORTB_PIN7  15
+
+#define XMEGA_PORTC_PIN0  16
+#define XMEGA_PORTC_PIN1  17
+#define XMEGA_PORTC_PIN2  18
+#define XMEGA_PORTC_PIN3  19
+#define XMEGA_PORTC_PIN4  20
+#define XMEGA_PORTC_PIN5  21
+#define XMEGA_PORTC_PIN6  22
+#define XMEGA_PORTC_PIN7  23
+
+#define XMEGA_PORTD_PIN0  24
+#define XMEGA_PORTD_PIN1  25
+#define XMEGA_PORTD_PIN2  26
+#define XMEGA_PORTD_PIN3  27
+#define XMEGA_PORTD_PIN4  28
+#define XMEGA_PORTD_PIN5  29
+#define XMEGA_PORTD_PIN6  30
+#define XMEGA_PORTD_PIN7  31
+
+#define XMEGA_PORTE_PIN0  32
+#define XMEGA_PORTE_PIN1  33
+#define XMEGA_PORTE_PIN2  34
+#define XMEGA_PORTE_PIN3  35
+#define XMEGA_PORTE_PIN4  36
+#define XMEGA_PORTE_PIN5  37
+#define XMEGA_PORTE_PIN6  38
+#define XMEGA_PORTE_PIN7  39
+
+#define XMEGA_PORTF_PIN0  40
+#define XMEGA_PORTF_PIN1  41
+#define XMEGA_PORTF_PIN2  42
+#define XMEGA_PORTF_PIN3  43
+#define XMEGA_PORTF_PIN4  44
+#define XMEGA_PORTF_PIN5  45
+#define XMEGA_PORTF_PIN6  46
+#define XMEGA_PORTF_PIN7  47
+
+
+
+#define XMEGA_SPI_PORT_C 20
+#define XMEGA_SPI_PORT_D 28
+
+
+//void GPIO_getPort(int pinnum, PORT_t * port, uint8_t pin);
+//void GPIO_getPort(int pinnum, PORT_t * port, uint8_t * pin_bm);
+PORT_t * GPIO_getPort(int pinnum, uint8_t * pin_bm);
+
+#ifdef	__cplusplus
+}
+#endif
+
+#endif /* GPIO_HELPER_H_ */
\ No newline at end of file

utility/ATXMegaD3/includes.h

+
+ /**
+ * @file includes.h
+ * Configuration defines for RF24/Linux
+ */
+
+ /**
+ * Example of includes.h for RF24 Linux portability
+ *
+ * @defgroup Porting_Includes Porting: Includes
+ *
+ * 
+ * @{
+ */
+  
+#ifndef __RF24_INCLUDES_H__
+#define __RF24_INCLUDES_H__
+
+  /**
+   * Define a specific platform for this configuration
+   */
+ // #define RF24_BBB
+  
+  /**
+   * Load the correct configuration for this platform
+  */
+  //#include "BBB/RF24_arch_config.h"
+  
+#endif
+
+/*@}*/	
\ No newline at end of file

utility/ATXMegaD3/spi.cpp

+/*
+ * spi.cpp
+ *
+ * Created: 20/1/2016 10:10:39
+ *  Author: akatran
+ */ 
+
+#include <avr/io.h>
+#include "gpio_helper.h"
+#include "spi.h"
+
+using namespace std;
+
+void SPI::begin(uint8_t _port)
+{
+	if (_port==XMEGA_SPI_PORT_C) // Select SPI on PORTC
+	{
+		device = &SPIC;
+		port = &PORTC;
+	}else if (_port==XMEGA_SPI_PORT_D) // Select SPI on PORTD
+	{
+		device = &SPID;
+		port = &PORTD;
+	}
+	
+	init();
+}
+
+uint8_t SPI::transfer(uint8_t tx_)
+{
+	register8_t data;
+	device->DATA = tx_;
+	while(!(device->STATUS & (1<<7)));
+	data = device->DATA;
+	//PORTF.OUT = data;
+	return data;
+}
+
+void SPI::init()
+{
+	port->DIRCLR = SPI_MISO_bm;
+	port->DIRSET = SPI_MOSI_bm | SPI_SCK_bm | SPI_SS_bm;
+	
+	//device->CTRL = 0;
+	device->CTRL = SPI_ENABLE_bm | SPI_MASTER_bm | SPI_MODE_0_gc | SPI_PRESCALER_DIV4_gc;
+	device->INTCTRL =0; //Disable interrupts
+
+}
+
+
+SPI::SPI()
+{
+	
+}
+
+SPI::~SPI()
+{
+ 	
+}
+
+void operator delete(void * p) // or delete(void *, std::size_t)
+{
+
+}
\ No newline at end of file

utility/ATXMegaD3/spi.h

+
+/**
+ * @file spi.h
+ * Class declaration for SPI helper files
+ */
+
+ /**
+ * Example of spi.h class declaration for SPI portability
+ *
+ * @defgroup Porting_SPI Porting: SPI
+ *
+ * 
+ * @{
+ */
+
+#ifndef __XMEGASPI_H__
+#define __XMEGASPI_H__
+
+#include <avr/io.h>
+#include <stdint.h>
+//#include <string.h>
+//#include <unistd.h>
+//#include <stdio.h>
+//#include <stdlib.h>
+//#include <getopt.h>
+//#include <fcntl.h>
+//#include <sys/ioctl.h>
+//#include <inttypes.h>
+//#include <linux/types.h>
+//#include <linux/spi/spidev.h> 
+
+#define SPI_SS_bm (1<<4) /* SPI SS pin mask 4 */
+#define SPI_MOSI_bm (1<<5) /* SPI MOSI pin mask 5 */
+#define SPI_MISO_bm (1<<6) /* SPI MISO pin mask 6 */
+#define SPI_SCK_bm (1<<7) /* SPI SCK pin mask 7 */
+
+using namespace std;
+
+
+
+class SPI {
+public:
+
+	/**
+	* SPI constructor
+	*/	 
+	SPI();
+	
+	/**
+	* Start SPI
+	* @param port is the SPI port (XMEGA_SPI_PORT_C for SPI on PORTC, XMEGA_SPI_PORT_D on PORTD etc).
+	*/
+	void begin(uint8_t port);
+	/**
+	* Transfer a single byte
+	* @param tx_ Byte to send
+	* @return Data returned via spi
+	*/
+	uint8_t transfer(uint8_t tx_);
+	
+	/**
+	* Transfer a buffer of data
+	* @param tbuf Transmit buffer
+	* @param rbuf Receive buffer
+	* @param len Length of the data
+	*/
+	void transfernb(char* tbuf, char* rbuf, uint32_t len);
+
+	/**
+	* Transfer a buffer of data without an rx buffer
+	* @param buf Pointer to a buffer of data
+	* @param len Length of the data
+	*/	
+	void transfern(char* buf, uint32_t len);
+	
+	virtual ~SPI();
+
+private:
+    
+	/** Default SPI device */
+	SPI_t * device;
+	/* Port of the SPI */
+	PORT_t * port;
+
+	void init();	
+};
+
+#endif /*__XMEGASPI_H__*/
+
+/*@}*/
\ No newline at end of file

utility/RPi/interrupt.c

@@ -23,7 +23,7 @@ see <http://www.gnu.org/licenses/>
 
 #define delay(x) bcm2835_delay(x)
 
-static pthread_mutex_t pinMutex ;
+static pthread_mutex_t pinMutex = PTHREAD_MUTEX_INITIALIZER;
 static volatile int    pinPass = -1 ;
 
 pthread_t threadId [64];

utility/RPi/spi.cpp

 #include "spi.h"
 #include <pthread.h>
 
-static pthread_mutex_t spiMutex;
+static pthread_mutex_t spiMutex = PTHREAD_MUTEX_INITIALIZER;
 
 SPI::SPI() {