Merge branch 'master' into master

3c4f8420 · corcrash · GitHub · c10147f6 · 575183c3 · 3c4f8420
Commit 3c4f8420 authored Dec 28, 2016 by corcrash Committed by GitHub Dec 28, 2016
23 changed files
--- a/.gitignore
+++ b/.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/*.*
--- a/Doxyfile
+++ b/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

--- a/RF24.cpp
+++ b/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;
  }
@@ -1175,6 +1183,9 @@ 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
    }
  }

--- a/RF24.h
+++ b/RF24.h
@@ -57,7 +57,7 @@ private:
  SPIUARTClass uspi;
 #endif

-#if defined (RF24_LINUX)
+#if defined (RF24_LINUX) || defined (XMEGA_D3) /* XMEGA can use SPI class */
  SPI spi;
 #endif
 #if defined (MRAA)
@@ -67,7 +67,7 @@ private:
  uint16_t ce_pin; /**< "Chip Enable" pin, activates the RX or TX role */
  uint16_t csn_pin; /**< SPI Chip select */
  uint16_t spi_speed; /**< SPI Bus Speed */
-#if defined (RF24_LINUX)
+#if defined (RF24_LINUX) || defined (XMEGA_D3)
  uint8_t spi_rxbuff[32+1] ; //SPI receive buffer (payload max 32 bytes)
  uint8_t spi_txbuff[32+1] ; //SPI transmit buffer (payload max 32 bytes + 1 byte for the command)
 #endif  
@@ -76,7 +76,6 @@ private:
  bool dynamic_payloads_enabled; /**< Whether dynamic payloads are enabled. */
  uint8_t pipe0_reading_address[5]; /**< Last address set on pipe 0 for reading. */
  uint8_t addr_width; /**< The address width to use - 3,4 or 5 bytes. */
-  uint32_t txRxDelay; /**< Var for adjusting delays depending on datarate */
  

 protected:
@@ -112,7 +111,7 @@ public:
  //#if defined (RF24_LINUX)
  
    /**
-  * Optional Raspberry Pi Constructor
+  * Optional Linux 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.
@@ -877,7 +876,7 @@ s   *
  /**
   * Get the CRC length
   * <br>CRC checking cannot be disabled if auto-ack is enabled
-   * @return RF24_DISABLED if disabled or RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
+   * @return RF24_CRC_DISABLED if disabled or RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
   */
  rf24_crclength_e getCRCLength(void);

@@ -906,6 +905,31 @@ s   *
  */
  void maskIRQ(bool tx_ok,bool tx_fail,bool rx_ready);
  
+  /**
+  * 
+  * The driver will delay for this duration when stopListening() is called
+  * 
+  * When responding to payloads, faster devices like ARM(RPi) are much faster than Arduino:
+  * 1. Arduino sends data to RPi, switches to RX mode
+  * 2. The RPi receives the data, switches to TX mode and sends before the Arduino radio is in RX mode
+  * 3. If AutoACK is disabled, this can be set as low as 0. If AA/ESB enabled, set to 100uS minimum on RPi
+  *
+  * @warning If set to 0, ensure 130uS delay after stopListening() and before any sends
+  */
+  
+  uint32_t txDelay;
+
+  /**
+  * 
+  * On all devices but Linux and ATTiny, a small delay is added to the CSN toggling function
+  * 
+  * This is intended to minimise the speed of SPI polling due to radio commands
+  *
+  * If using interrupts or timed requests, this can be set to 0 Default:5
+  */
+  
+  uint32_t csDelay;
+  
  /**@}*/
  /**
   * @name Deprecated
@@ -1135,8 +1159,8 @@ private:
 */

 /**
- * @example GettingStarted.cpp
- * <b>For Raspberry Pi</b><br>
+ * @example gettingstarted.cpp
+ * <b>For Linux</b><br>
 * <b>Updated: TMRh20 2014 </b><br>
 *
 * This is an example of how to use the RF24 class to communicate on a basic level. Configure and write this sketch to two
@@ -1159,8 +1183,8 @@ private:
 */
 
 /**
- * @example GettingStarted_Call_Response.cpp
- * <b>For Raspberry Pi</b><br>
+ * @example gettingstarted_call_response.cpp
+ * <b>For Linux</b><br>
 * <b>New: TMRh20 2014</b><br>
 *
 * This example continues to make use of all the normal functionality of the radios including
@@ -1190,8 +1214,8 @@ private:
 */
 
 /**
- * @example Transfer.cpp
- * <b>For Raspberry Pi</b><br>
+ * @example transfer.cpp
+ * <b>For Linux</b><br>
 * This example demonstrates half-rate transfer using the FIFO buffers<br>
 *
 * It is an example of how to use the RF24 class.  Write this sketch to two
@@ -1282,7 +1306,7 @@ private:
 /**
 * @example pingpair_dyn.cpp
 *
- * This is an example of how to use payloads of a varying (dynamic) size on Raspberry Pi.
+ * This is an example of how to use payloads of a varying (dynamic) size on Linux.
 */

 /**
@@ -1291,18 +1315,6 @@ private:
 * This is a python example for RPi of how to use payloads of a varying (dynamic) size.
 */ 
 
-/**
- * @example pingpair_dyn.ino
- *
- * This is an example of how to use payloads of a varying (dynamic) size.
- */
- 
- /**
- * @example pingpair_dyn.ino
- *
- * This is an example of how to use payloads of a varying (dynamic) size.
- */
-
 /**
 * @example scanner.ino
 *
@@ -1341,7 +1353,7 @@ private:
 * - Uses SPI transactions on Arduino
 * - New layout for <a href="Portability.html">easier portability:</a> Break out defines & includes for individual platforms to RF24/utility
 * - <a href="MRAA.html">MRAA</a> support added ( Galileo, Edison, etc)
- * - <a href="BBB.html">BBB/Generic Linux </a> support via spidev & MRAA
+ * - <a href="Linux.html">Generic Linux support (SPIDEV)</a> support
 * - Support for RPi 2 added
 * - Major Documentation cleanup & update (Move all docs to github.io)
 *
@@ -1356,6 +1368,7 @@ private:
 * @li <a href="https://github.com/TMRh20/RF24/archive/master.zip"><b>Download</b></a>
 * @li <a href="https://github.com/tmrh20/RF24/"><b>Source Code</b></a>
 * @li <a href="http://tmrh20.blogspot.com/2014/03/high-speed-data-transfers-and-wireless.html"><b>My Blog:</b> RF24 Optimization Overview</a> 
+ * @li <a href="http://tmrh20.blogspot.com/2016/08/raspberry-pilinux-with-nrf24l01.html"><b>My Blog:</b> RPi/Linux w/RF24Gateway</a> 
 * @li <a href="http://www.nordicsemi.com/files/Product/data_sheet/nRF24L01_Product_Specification_v2_0.pdf">Chip Datasheet</a>
 *
 * **Additional Information and Add-ons**
@@ -1384,8 +1397,9 @@ private:
 *
 * @li <a href="Arduino.html"><b>Arduino</b></a> (Uno, Nano, Mega, Due, Galileo, etc)
 * @li <a href="ATTiny.html"><b>ATTiny</b></a>
- * @li Linux ( <a href="RPi.html"><b>RPi</b></a> , <a href="BBB.html"><b>BBB</b></a>, <a href="MRAA.html"><b>MRAA</b></a> supported boards ( Galileo, Edison, etc))
- * @li <a href="Python.html"><b>Python</b></a> wrapper available for RPi
+ * @li <a href="Linux.html"><b>Linux devices</b></a>( <a href="RPi.html"><b>RPi</b></a> , <a href="Linux.html"><b>Linux SPI userspace device</b></a>, <a href="MRAA.html"><b>MRAA</b></a> supported boards ( Galileo, Edison, etc), <a href="LittleWire.html"><b>LittleWire</b></a>)
+ * @li <a href="CrossCompile.html"><b>Cross-compilation</b></a> for linux devices
+ * @li <a href="Python.html"><b>Python</b></a> wrapper available for Linux devices
 *
 * <br>
 * **General µC Pin layout** (See the individual board support pages for more info)
@@ -1559,27 +1573,27 @@ private:
 * 
 *
 *
- * @page BBB BeagleBone Black
+ * @page Linux Linux devices
 *
- * BeagleBone Black is supported via MRAA or SPIDEV.
+ * Generic Linux devices are supported via SPIDEV, MRAA, RPi native via BCM2835, or using LittleWire.
 *
- *  @note The SPIDEV option should work with most Linux systems supporting SPIDEV. <br>
- *  Users may need to edit the RF24/utility/BBB/spi.cpp file to configure the spi device. (Defaults: "/dev/spidev1.0";  or  "/dev/spidev1.1"; )
+ *  @note The SPIDEV option should work with most Linux systems supporting spi userspace device. <br>
 *
 * <br>
 * @section AutoInstall Automated Install 
- *(**Designed & Tested on RPi** - Defaults to SPIDEV on BBB)
+ *(**Designed & Tested on RPi** - Defaults to SPIDEV on devices supporting it)
 *
 * 
- * 1. Download the install.sh file from http://tmrh20.github.io/RF24Installer/RPi/install.sh
+ * 1. Install prerequisites if there are any (MRAA, LittleWire libraries, setup SPI device etc)
+ * 2. Download the install.sh file from http://tmrh20.github.io/RF24Installer/RPi/install.sh
 * @code wget http://tmrh20.github.io/RF24Installer/RPi/install.sh @endcode
- * 2. Make it executable:
+ * 3. Make it executable
 * @code chmod +x install.sh @endcode
- * 3. Run it and choose your options
+ * 4. Run it and choose your options
 * @code ./install.sh @endcode
- * 4. Run an example from one of the libraries
+ * 5. Run an example from one of the libraries
 * @code 
- * cd rf24libs/RF24/examples_RPi  
+ * cd rf24libs/RF24/examples_linux  
 * @endcode
 * Edit the gettingstarted example, to set your pin configuration
 * @code nano gettingstarted.cpp
@@ -1589,20 +1603,22 @@ private:
 *
 * <br>
 * @section ManInstall Manual Install
- * 1. Make a directory to contain the RF24 and possibly RF24Network lib and enter it: 
+ * 1. Install prerequisites if there are any (MRAA, LittleWire libraries, setup SPI device etc)
+ * @note See the <a href="http://iotdk.intel.com/docs/master/mraa/index.html">MRAA </a> documentation for more info on installing MRAA <br>
+ * 2. Make a directory to contain the RF24 and possibly RF24Network lib and enter it
 * @code
 *  mkdir ~/rf24libs 
 *  cd ~/rf24libs
 *  @endcode
- * 2. Clone the RF24 repo:
+ * 3. Clone the RF24 repo
 *    @code git clone https://github.com/tmrh20/RF24.git RF24 @endcode
- * 3. Change to the new RF24 directory
+ * 4. Change to the new RF24 directory
 *    @code cd RF24 @endcode
- * 4. Build the library, and run an example file: 
- * **Note:** See the <a href="http://iotdk.intel.com/docs/master/mraa/index.html">MRAA </a> documentation for more info on installing MRAA
- *    @code sudo make install  OR  sudo make install RF24_MRAA=1 @endcode
+ * 5. Configure build environment using @code ./configure @endcode script. It auto detectes device and build environment. For overriding autodetections, use command-line switches, see @code ./configure --help @endcode for description.
+ * 6. Build the library, and run an example file
+ * @code sudo make install @endcode
 * @code
- * cd examples_RPi  
+ * cd examples_linux  
 * @endcode
 * Edit the gettingstarted example, to set your pin configuration
 * @code nano gettingstarted.cpp 
@@ -1620,33 +1636,11 @@ private:
 * RF24 supports all MRAA supported platforms, but might not be tested on each individual platform due to the wide range of hardware support:<br>
 * <a href="https://github.com/TMRh20/RF24/issues">Report an RF24 bug or issue </a>
 *
- * @section Setup Setup
+ * @section Setup Setup and installation
 * 1. Install the MRAA lib
 * 2. As per your device, SPI may need to be enabled
+ * 3. Follow <a href="Linux.html">Linux installation steps</a> to install RF24 libraries
 * 
- * @section MRAA_Install Install 
- *
- * 1. Make a directory to contain the RF24 and possibly RF24Network lib and enter it: 
- * @code
- *  mkdir ~/rf24libs 
- *  cd ~/rf24libs
-*  @endcode
- * 2. Clone the RF24 repo:
- *    @code git clone https://github.com/tmrh20/RF24.git RF24 @endcode
- * 3. Change to the new RF24 directory
- *    @code cd RF24 @endcode
- * 4. Build the library: 
- *    @code sudo make install -B RF24_MRAA=1 @endcode
- * 5. Configure the correct pins in gettingstarted.cpp (See http://iotdk.intel.com/docs/master/mraa/index.html )
- *    @code
- *    cd examples_RPi  
- *    nano gettingstarted.cpp 
- *    @endcode
- * 6. Build an example
- *    @code
- *    make  
- *    sudo ./gettingstarted
- *    @endcode
 *
 * <br><br><br>
 *
@@ -1665,43 +1659,11 @@ private:
 * @code sudo raspi-config  @endcode
 * A. Update the tool via the menu as required<br>
 * B. Select **Advanced** and **enable the SPI kernel module** <br>
- * C. Update other software and libraries:
+ * C. Update other software and libraries
 * @code sudo apt-get update @endcode
 * @code sudo apt-get upgrade @endcode 
- * <br>
- * @section AutoInstall Automated Install
- *
- * 1. Download the install.sh file from http://tmrh20.github.io/RF24Installer/RPi/install.sh
- * @code wget http://tmrh20.github.io/RF24Installer/RPi/install.sh @endcode
- * 2. Make it executable:
- * @code chmod +x install.sh @endcode
- * 3. Run it and choose your options
- * @code ./install.sh @endcode
- * 4. Run an example from one of the libraries
- * @code 
- * cd rf24libs/RF24/examples_RPi  
- * make  
- * sudo ./gettingstarted  
- * @endcode
 * <br><br>
- * @section ManInstall Manual Install
- * 1. Make a directory to contain the RF24 and possibly RF24Network lib and enter it: 
- * @code
- *  mkdir ~/rf24libs 
- *  cd ~/rf24libs
-*  @endcode
- * 2. Clone the RF24 repo:
- *    @code git clone https://github.com/tmrh20/RF24.git RF24 @endcode
- * 3. Change to the new RF24 directory
- *    @code cd RF24 @endcode
- * 4. Build the library, and run an example file: 
- * @code sudo make install
- * cd examples_RPi  
- * make  
- * sudo ./gettingstarted
- * @endcode
 *
- * <br><br>
 * @section Build Build Options
 * The default build on Raspberry Pi utilizes the included **BCM2835** driver from http://www.airspayce.com/mikem/bcm2835
 * 1. @code sudo make install -B @endcode
@@ -1709,7 +1671,7 @@ private:
 * Build using the **MRAA** library from http://iotdk.intel.com/docs/master/mraa/index.html <br>
 * MRAA is not included. See the <a href="MRAA.html">MRAA</a> platform page for more information.
 *
- * 1. Install, and build MRAA:
+ * 1. Install, and build MRAA
 * @code
 * git clone https://github.com/intel-iot-devkit/mraa.git
 * cd mraa
@@ -1725,15 +1687,21 @@ private:
 * Run @code sudo ldconfig @endcode
 *
 * 3. Install RF24, using MRAA
- * @code sudo make install -B RF24_MRAA=1 @endcode
+ * @code
+ * ./configure --driver=MRAA
+ * sudo make install -B
+ * @endcode
 * See the gettingstarted example for an example of pin configuration
 *
- * Build using **spidev**:
+ * Build using **SPIDEV**
 *
- * 1. Edit the RF24/utility/BBB/spi.cpp file
- * 2. Change the default device definition to @code this->device = "/dev/spidev0.0";; @endcode
- * 3. Run @code sudo make install -B RF24_SPIDEV=1 @endcode
- * 4. See the gettingstarted example for an example of pin configuration
+ * 1. Make sure that spi device support is enabled and /dev/spidev\<a\>.\<b\> is present
+ * 2. Install RF24, using SPIDEV
+ * @code
+ * ./configure --driver=SPIDEV
+ * sudo make install -B
+ * @endcode
+ * 3. See the gettingstarted example for an example of pin configuration
 *
 * <br>
 * @section Pins Connections and Pin Configuration
@@ -1774,6 +1742,7 @@ private:
 * **SPI_DEV Constructor**
 *
 * @code RF24 radio(22,0); @endcode
+ * In general, use @code RF24 radio(<ce_pin>, <a>*10+<b>); @endcode for proper SPIDEV constructor to address correct spi device at /dev/spidev\<a\>.\<b\>
 *
 * See http://pi.gadgetoid.com/pinout
 *
@@ -1810,38 +1779,164 @@ private:
 *  
 * @page Python Python Wrapper (by https://github.com/mz-fuzzy)
 *
- * @section Install Installation:  
+ * @note Both python2 and python3 are supported.
 *
- * Install the boost libraries:  (Note: Only the python libraries should be needed, this is just for simplicity)
+ * @section Install Installation:  
 *
- * @code sudo apt-get install libboost1.50-all @endcode
+ * 1. Install the python-dev (or python3-dev) and boost libraries
+ * @code sudo apt-get install python-dev libboost-python-dev @endcode
+ * @note For python3 in Raspbian, it's needed to manually link python boost library, like this:
+ * @code sudo ln -s /usr/lib/arm-linux-gnueabihf/libboost_python-py34.so /usr/lib/arm-linux-gnueabihf/libboost_python3.so @endcode
 *
- * Build the library:  
+ * 2. Install python-setuptools (or python3-setuptools)
+ * @code sudo apt-get install python-setuptools @endcode
 *
+ * 3. Build the library
 * @code ./setup.py build   @endcode
+ * @note Build takes several minutes on arm-based machines. Machines with RAM <1GB may need to increase amount of swap for build.
 *
- * Install the library 
- *
+ * 4. Install the library
 * @code sudo ./setup.py install  @endcode
- *
- * 
 * See the additional <a href="pages.html">Platform Support</a> pages for information on connecting your hardware  <br>
 * See the included <a href="pingpair_dyn_8py-example.html">example </a> for usage information.   
 * 
- * Running the Example:  
- * 
+ * 5. Running the Example
 * Edit the pingpair_dyn.py example to configure the appropriate pins per the above documentation:  
- *
 * @code nano pingpair_dyn.py   @endcode
+ * Configure another device, Arduino or RPi with the <a href="pingpair_dyn_8py-example.html">pingpair_dyn</a> example <br>
+ * Run the example  
+ * @code sudo ./pingpair_dyn.py  @endcode
 *
- * Configure another device, Arduino or RPi with the <a href="pingpair_dyn_8py-example.html">pingpair_dyn</a> example  
+ * <br><br><br>
 *
- * Run the example  
+ * @page CrossCompile Linux cross-compilation
 * 
- * @code sudo ./pingpair_dyn.py  @endcode
+ * RF24 library supports cross-compilation. Advantages of cross-compilation:
+ *  - development tools don't have to be installed on target machine
+ *  - resources of target machine don't have to be sufficient for compilation
+ *  - compilation time can be reduced for large projects
+ *
+ *  Following prerequisites need to be assured:
+ *  - ssh passwordless access to target machine (https://linuxconfig.org/passwordless-ssh)
+ *  - sudo of a remote user without password (http://askubuntu.com/questions/334318/sudoers-file-enable-nopasswd-for-user-all-commands)
+ *  - cross-compilation toolchain for your target machine; for RPi
+ *  @code git clone https://github.com/raspberrypi/tools rpi_tools @endcode
+ *  and cross-compilation tools must be in PATH, for example
+ *  @code export PATH=$PATH:/your/dir/rpi-tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin @endcode
+ *
+ * @section CxSteps Cross compilation steps:
+ * 1. clone RF24 to a machine for cross-compilation
+ * @code
+ * git clone https://github.com/TMRh20/RF24
+ * cd RF24
+ * @endcode
+ * 2. configure for cross compilation
+ * @code ./configure --remote=pi@target_linux_host @endcode
+ * eventually
+ * @code ./configure --remote=pi@target_linux_host --driver=<driver> @endcode
+ * 3. build
+ * @code make @endcode
+ * 4. (opt) install library to cross-compilation machine into cross-exvironment - important for compilation of examples
+ * @code sudo make install @endcode
+ * 5. upload library to target machine
+ * @code make upload @endcode
+ * 6. (opt) compile examples
+ * @code
+ * cd examples_linux
+ * make
+ * @endcode
+ * 7. (opt) upload examples to target machine
+ * @code make upload @endcode
+ *
+ * @section CxStepsPython Cross comilation steps for python wrapper
+ *
+ * Prerequisites:
+ * - Python setuptools must be installed on both target and cross-compilation machines
+ *   @code sudo pip install setuptools @endcode
+ *   or
+ *   @code sudo apt-get install python-setuptools @endcode
+ *
+ * Installation steps:
+ * 1. Assure having libboost-python-dev library in your cross-compilation environment. Alternatively, you can install it into your target machine and copy /usr and /lib directories to the cross-compilation machine.
+ * For example
+ * @code
+ * mkdir -p rpi_root && rsync -a pi@target_linux_host:/usr :/lib rpi_root
+ * export CFLAGS="--sysroot=/your/dir/rpi_root -I/your/dir/rpi_root/usr/include/python2.7/"
+ * @endcode
+ *
+ * 2. Build the python wrapper
+ * @code
+ * cd pyRF24
+ * ./setup.py build --compiler=crossunix
+ * @endcode
+ *
+ * 3. Make the egg package
+ * @code ./setup.py bdist_egg --plat-name=cross @endcode
+ * dist/RF24-<version>-cross.egg should be created.
+ *
+ * 4. Upload it to the target machine and install there:
+ * @code
+ * scp dist/RF24-*-cross.egg pi@target_linux_host:
+ * ssh pi@target_linux_host 'sudo easy_install RF24-*-cross.egg'
+ * @endcode
 *
 * <br><br><br>
 *
+ * @page ATXMEGA ATXMEGA
+ * 
+ * The RF24 driver can be build as a static library with Atmel Studio 7 in order to be included as any other library in another program for the XMEGA family.
+ *
+ * Currently only the <b>ATXMEGA D3</b> family is implemented.
+ * 
+ * @section Preparation 
+ * 
+ * Create an empty GCC Static Library project in AS7.<br>
+ * As not all files are required, copy the following directory structure in the project:
+ * 
+ * @code
+ * utility\
+ *   ATXMegaD3\
+ *     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
+ * @endcode
+ * 
+ * @section Usage
+ * 
+ * Add the library to your project!<br>
+ * In the file where the **main()** is put the following in order to update the millisecond functionality:
+ * 
+ * @code
+ * ISR(TCE0_OVF_vect)
+ * {
+ * 	update_milisec();
+ * }
+ * @endcode
+ * 
+ * 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.
+ * 
+ * @note Note about the millisecond functionality:<br>
+ * 
+ * 	The millisecond functionality is based on the TCE0 so don't use these pins as IO.<br>
+ * 	The operating frequency of the uC is 32MHz. If you have other frequency change the TCE0 registers appropriatly in function **__start_timer()** in **compatibility.c** file for your frequency. 
 *
 * @page Portability RF24 Portability
 *
@@ -1873,7 +1968,7 @@ private:
 *<br>
 * @section Device_Detection Device Detection
 *
- * 1. The main detection for Linux devices is done in the Makefile, with the includes.h from the proper hardware directory copied to RF24/utility/includes.h <br>
+ * 1. The main detection for Linux devices is done in the configure script, with the includes.h from the proper hardware directory copied to RF24/utility/includes.h <br>
 * 2. Secondary detection is completed in RF24_config.h, causing the include.h file to be included for all supported Linux devices <br>
 * 3. RF24.h contains the declaration for SPI and GPIO objects 'spi' and 'gpio' to be used for porting-in related functions.
 *

--- a/RF24_config.h
+++ b/RF24_config.h
@@ -29,7 +29,13 @@
    #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__)
+   #if defined (__arm__) && defined (SPI_UART)
+		#include <SPI_UART.h>
+		#define _SPI uspi
+   #else
     #include <SPI.h>
+     #define _SPI SPI
   #endif
-
- 
- #define _BV(x) (1<<(x))
- #if !defined(__arm__) && !defined (__ARDUINO_X86__)
+ #elif !defined(__arm__) && !defined (__ARDUINO_X86__)
   extern HardwareSPI SPI;
 #endif
 
+ #define _BV(x) (1<<(x))
  
-  #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

--- a/configure
+++ b/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

--- a/examples/scanner/scanner.ino
+++ b/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();
    }
  }


--- a/examples_linux/extra/scanner.cpp
+++ b/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
@@ -99,34 +101,30 @@ int main(int argc, char** argv)
 	
  // 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 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();
+	radio.stopListening();

 	// Did we get a carrier?
-			if ( radio.testCarrier() )
-					++values[i];
-			if ( values[i] == 0xf ) 
-			{
-				reset_array = 2;
+	if ( radio.testCarrier() ) ++values[i];
      }
-			radio.stopListening();
    }

    // Print out channel measurements, clamped to a single hex digit
@@ -136,7 +134,6 @@ int main(int argc, char** argv)
      printf("%x",min(0xf,(values[i]&0xf)));
      ++i;
    }
-		
    printf("\n");
  }


--- a/library.json
+++ b/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",

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

--- a/utility/ATXMegaD3/README.md
+++ b/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**
--- a/utility/ATXMegaD3/RF24_arch_config.h
+++ b/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__
+
+
+/*@}*/	
--- a/utility/ATXMegaD3/compatibility.c
+++ b/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++;
+}
+
+
+
+
--- a/utility/ATXMegaD3/compatibility.h
+++ b/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
--- a/utility/ATXMegaD3/gpio.cpp
+++ b/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;	
+	}
+	
+}
+
--- a/utility/ATXMegaD3/gpio.h
+++ b/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
--- a/utility/ATXMegaD3/gpio_helper.c
+++ b/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
--- a/utility/ATXMegaD3/gpio_helper.h
+++ b/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
--- a/utility/ATXMegaD3/includes.h
+++ b/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
--- a/utility/ATXMegaD3/spi.cpp
+++ b/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
--- a/utility/ATXMegaD3/spi.h
+++ b/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
--- a/utility/RPi/interrupt.c
+++ b/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];

--- a/utility/RPi/spi.cpp
+++ b/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() {