Merge remote-tracking branch 'refs/remotes/origin/Interrupts'

RF24.cpp

@@ -43,13 +43,9 @@ void RF24::csn(bool mode)
 		_SPI.setDataMode(SPI_MODE0);
 		_SPI.setClockDivider(SPI_CLOCK_DIV2);
       #endif
-
 #elif defined (RF24_RPi)
-	  _SPI.setBitOrder(RF24_BIT_ORDER);
-	  _SPI.setDataMode(RF24_DATA_MODE);
-	  _SPI.setClockDivider(spi_speed ? spi_speed : RF24_CLOCK_DIVIDER);
-	  _SPI.chipSelect(csn_pin);
-	  delayMicroseconds(5);
+      if(!mode)
+	    _SPI.chipSelect(csn_pin);
 #endif
 
 #if !defined (RF24_LINUX)
@@ -71,7 +67,7 @@ void RF24::ce(bool level)
 
   inline void RF24::beginTransaction() {
     #if defined (RF24_SPI_TRANSACTIONS)
-    _SPI.beginTransaction(SPISettings(RF_SPI_SPEED, MSBFIRST, SPI_MODE0));
+    _SPI.beginTransaction(SPISettings(RF24_SPI_SPEED, MSBFIRST, SPI_MODE0));
 	#endif
     csn(LOW);
   }
@@ -92,7 +88,7 @@ uint8_t RF24::read_register(uint8_t reg, uint8_t* buf, uint8_t len)
   uint8_t status;
 
   #if defined (RF24_LINUX)
-  csn(LOW); //In this case, calling csn(LOW) configures the spi settings for RPi
+  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
@@ -107,6 +103,7 @@ uint8_t RF24::read_register(uint8_t reg, uint8_t* buf, uint8_t len)
 
   // decrement before to skip status byte
   while ( --size ){ *buf++ = *prx++; } 
+  endTransaction(); //unlocks mutex and setting csn high
 
 #else
 
@@ -130,7 +127,7 @@ uint8_t RF24::read_register(uint8_t reg)
   
   #if defined (RF24_LINUX)
 	
-  csn(LOW);
+  beginTransaction();
   
   uint8_t * prx = spi_rxbuff;
   uint8_t * ptx = spi_txbuff;	
@@ -138,8 +135,9 @@ uint8_t RF24::read_register(uint8_t 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  
-
+  result = *++prx;   // result is 2nd byte of receive buffer
+  
+  endTransaction();
   #else
 
   beginTransaction();
@@ -159,8 +157,7 @@ uint8_t RF24::write_register(uint8_t reg, const uint8_t* buf, uint8_t len)
   uint8_t status;
 
   #if defined (RF24_LINUX) 
-
-  csn(LOW);
+  beginTransaction();
   uint8_t * prx = spi_rxbuff;
   uint8_t * ptx = spi_txbuff;
   uint8_t size = len + 1; // Add register value to transmit buffer
@@ -171,7 +168,7 @@ uint8_t RF24::write_register(uint8_t reg, const uint8_t* buf, uint8_t len)
   
   _SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
   status = *prx; // status is 1st byte of receive buffer
-
+  endTransaction();
   #else
 
   beginTransaction();
@@ -194,7 +191,7 @@ uint8_t RF24::write_register(uint8_t reg, uint8_t value)
   IF_SERIAL_DEBUG(printf_P(PSTR("write_register(%02x,%02x)\r\n"),reg,value));
 
   #if defined (RF24_LINUX)
-    csn(LOW);
+    beginTransaction();
 	uint8_t * prx = spi_rxbuff;
 	uint8_t * ptx = spi_txbuff;
 	*ptx++ = ( W_REGISTER | ( REGISTER_MASK & reg ) );
@@ -202,7 +199,7 @@ uint8_t RF24::write_register(uint8_t reg, uint8_t value)
   	
 	_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, 2);
 	status = *prx++; // status is 1st byte of receive buffer
-
+	endTransaction();
   #else
 
   beginTransaction();
@@ -229,7 +226,7 @@ uint8_t RF24::write_payload(const void* buf, uint8_t data_len, const uint8_t wri
   IF_SERIAL_DEBUG( printf("[Writing %u bytes %u blanks]\n",data_len,blank_len); );
   
  #if defined (RF24_LINUX)
-    csn(LOW);
+	beginTransaction();
 	uint8_t * prx = spi_rxbuff;
 	uint8_t * ptx = spi_txbuff;
     uint8_t size;
@@ -243,7 +240,7 @@ uint8_t RF24::write_payload(const void* buf, uint8_t data_len, const uint8_t wri
 	
 	_SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
 	status = *prx; // status is 1st byte of receive buffer
-
+	endTransaction();
 
   #else
 
@@ -277,7 +274,7 @@ uint8_t RF24::read_payload(void* buf, uint8_t data_len)
   IF_SERIAL_DEBUG( printf("[Reading %u bytes %u blanks]\n",data_len,blank_len); );
   
   #if defined (RF24_LINUX)
-    csn(LOW);
+	beginTransaction();
 	uint8_t * prx = spi_rxbuff;
 	uint8_t * ptx = spi_txbuff;
     uint8_t size;
@@ -297,7 +294,7 @@ uint8_t RF24::read_payload(void* buf, uint8_t data_len)
         *current++ = *prx++;
 		
 	*current = *prx;
-
+	endTransaction();
   #else
 
   beginTransaction();
@@ -334,18 +331,11 @@ uint8_t RF24::flush_tx(void)
 uint8_t RF24::spiTrans(uint8_t cmd){
 
   uint8_t status;
-  #if defined (RF24_LINUX)
-    csn(LOW);
-    status = _SPI.transfer( cmd );
-
-  #else
-
+  
   beginTransaction();
   status = _SPI.transfer( cmd );
   endTransaction();
-
-  #endif
-
+  
   return status;
 }
 
@@ -444,7 +434,7 @@ RF24::RF24(uint8_t _cepin, uint8_t _cspin, uint32_t _spi_speed):
 
 void RF24::setChannel(uint8_t channel)
 {
-  const uint8_t max_channel = 127;
+  const uint8_t max_channel = 125;
   write_register(RF_CH,rf24_min(channel,max_channel));
 }
 
@@ -1038,10 +1028,10 @@ uint8_t RF24::getDynamicPayloadSize(void)
   #if defined (RF24_LINUX)  
   spi_txbuff[0] = R_RX_PL_WID;
   spi_rxbuff[1] = 0xff;
-  csn(LOW);
+  beginTransaction();
   _SPI.transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, 2);
   result = spi_rxbuff[1];  
-  csn(HIGH);
+  endTransaction();
   #else
   beginTransaction();
   _SPI.transfer( R_RX_PL_WID );
@@ -1222,19 +1212,10 @@ void RF24::closeReadingPipe( uint8_t pipe )
 
 void RF24::toggle_features(void)
 {
-
-  #if defined (RF24_LINUX)
-    csn(LOW);
-    _SPI.transfer( ACTIVATE );
-    _SPI.transfer( 0x73 );
-	csn(HIGH);
-  #else
     beginTransaction();
 	_SPI.transfer( ACTIVATE );
     _SPI.transfer( 0x73 );
 	endTransaction();
-  #endif
-
 }
 
 /****************************************************************************/
@@ -1302,7 +1283,7 @@ void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
   uint8_t data_len = rf24_min(len,32);
 
   #if defined (RF24_LINUX)
-    csn(LOW);
+    beginTransaction();
     uint8_t * ptx = spi_txbuff;
     uint8_t size = data_len + 1 ; // Add register value to transmit buffer
 	*ptx++ =  W_ACK_PAYLOAD | ( pipe & 0b111 );
@@ -1311,7 +1292,7 @@ void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
     }
 	
     _SPI.transfern( (char *) spi_txbuff, size);
-	csn(HIGH);
+	endTransaction();
   #else
   beginTransaction();
   _SPI.transfer(W_ACK_PAYLOAD | ( pipe & 0b111 ) );

RF24.h

@@ -68,8 +68,8 @@ private:
 
   uint8_t ce_pin; /**< "Chip Enable" pin, activates the RX or TX role */
   uint8_t csn_pin; /**< SPI Chip select */
-#if defined (RF24_LINUX)
   uint16_t spi_speed; /**< SPI Bus Speed */
+#if defined (RF24_LINUX)
   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  
@@ -708,7 +708,7 @@ s   *
   /**
    * Set RF communication channel
    *
-   * @param channel Which RF channel to communicate on, 0-127
+   * @param channel Which RF channel to communicate on, 0-125
    */
   void setChannel(uint8_t channel);
   

RF24_config.h

@@ -58,7 +58,7 @@
   #include <Arduino.h>
   
   // RF modules support 10 Mhz SPI bus speed
-  const uint32_t RF_SPI_SPEED = 10000000;  
+  const uint32_t RF24_SPI_SPEED = 10000000;  
 
 #if defined (ARDUINO) && !defined (__arm__) && !defined (__ARDUINO_X86__)
       #if defined SPI_UART

examples/scanner/scanner.ino

@@ -34,7 +34,7 @@ RF24 radio(7,8);
 // Channel info
 //
 
-const uint8_t num_channels = 128;
+const uint8_t num_channels = 126;
 uint8_t values[num_channels];
 
 //

examples_RPi/extra/scanner.cpp

@@ -48,8 +48,7 @@ RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);
 //
 // Channel info
 //
-//const uint8_t num_channels = 128;
-const uint8_t num_channels = 120;
+const uint8_t num_channels = 126;
 uint8_t values[num_channels];
 
 

utility/RPi/RF24_arch_config.h

@@ -14,10 +14,10 @@
   #include "bcm2835.h"
   #include "spi.h"
   #define _SPI spi
-    #define RF24_BIT_ORDER BCM2835_SPI_BIT_ORDER_MSBFIRST
-	#define RF24_DATA_MODE BCM2835_SPI_MODE0
-	#define RF24_CLOCK_DIVIDER BCM2835_SPI_SPEED_8MHZ
-		
+	
+  #if defined SPI_HAS_TRANSACTION && !defined SPI_UART && !defined SOFTSPI
+    #define RF24_SPI_TRANSACTIONS
+  #endif	
   // GCC a Arduino Missing
   #define _BV(x) (1<<(x))
   #define pgm_read_word(p) (*(p))

utility/RPi/interrupt.c

@@ -24,11 +24,12 @@ see <http://www.gnu.org/licenses/>
 #define delay(x) bcm2835_delay(x)
 
 static pthread_mutex_t pinMutex ;
-static pthread_mutex_t spiMutex ;
 static volatile int    pinPass = -1 ;
+
+pthread_t threadId [64];
+
 // sysFds:
 //      Map a file descriptor from the /sys/class/gpio/gpioX/value
-
 static int sysFds [64] =
 {
   -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
@@ -97,6 +98,7 @@ void *interruptHandler (void *arg)
       pthread_mutex_lock (&pinMutex) ;
       isrFunctions [myPin] () ;
       pthread_mutex_unlock (&pinMutex) ;
+	  pthread_testcancel(); //Cancel at this point if we have an cancellation request.
     }
 
   return NULL ;
@@ -105,7 +107,6 @@ void *interruptHandler (void *arg)
 
 int attachInterrupt (int pin, int mode, void (*function)(void))
 {
-  pthread_t threadId ;
   const char *modeS ;
   char fName   [64] ;
   char  pinS [8] ;
@@ -151,7 +152,7 @@ int attachInterrupt (int pin, int mode, void (*function)(void))
 
   if (sysFds [bcmGpioPin] == -1)
   {
-    sprintf (fName, "/sys/class/gpio/gpio%d/value",bcmGpioPin) ; //WRONG
+    sprintf (fName, "/sys/class/gpio/gpio%d/value",bcmGpioPin);
     if ((sysFds [bcmGpioPin] = open (fName, O_RDWR)) < 0)
       return printf ("wiringPiISR: unable to open %s: %s\n", fName, strerror (errno)) ;
   }
@@ -164,7 +165,7 @@ int attachInterrupt (int pin, int mode, void (*function)(void))
 
   pthread_mutex_lock (&pinMutex) ;
     pinPass = pin ;
-    pthread_create (&threadId, NULL, interruptHandler, NULL) ;
+    pthread_create (&threadId[bcmGpioPin], NULL, interruptHandler, NULL) ;
     while (pinPass != -1)
       delay (1) ;
   pthread_mutex_unlock (&pinMutex) ;
@@ -172,20 +173,54 @@ int attachInterrupt (int pin, int mode, void (*function)(void))
   return 0 ;
 }
 
-void rfNoInterrupts(){
-  pthread_mutex_lock (&pinMutex) ;
-}
+int detachInterrupt (int pin)
+{
+	char  pinS [8];
+    const char *modeS = "none";
+	pid_t pid ;
+	
+	if (!pthread_cancel(threadId[pin])) //Cancel the thread
+	{
+	 return 0;
+	}
+	
+	if (!close(sysFds[pin])) //Close filehandle
+	{
+		return 0;
+	}
+	
+	/* Set wiringPi to 'none' interrupt mode */
+
+    sprintf (pinS, "%d", pin) ;
 
-void rfInterrupts(){
-  pthread_mutex_unlock (&pinMutex) ;
-}
+    if ((pid = fork ()) < 0)    // Fail
+      return printf("wiringPiISR: fork failed: %s\n", strerror (errno)) ;
 
-void spiNoInterrupts(){
-  pthread_mutex_lock (&spiMutex) ;
+    if (pid == 0)       // Child, exec
+    {
+      /**/ if (access ("/usr/local/bin/gpio", X_OK) == 0)
+      {
+        execl ("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
+        return printf ("wiringPiISR: execl failed: %s\n", strerror (errno)) ;
+      }
+      else if (access ("/usr/bin/gpio", X_OK) == 0)
+      {
+        execl ("/usr/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
+        return printf ("wiringPiISR: execl failed: %s\n", strerror (errno)) ;
+      }
+      else
+        return printf ("wiringPiISR: Can't find gpio program\n") ;
+    }
+    else                // Parent, wait
+      wait (NULL) ;
+	  
+	return 1;
 }
 
-void spiInterrupts(){
-  pthread_mutex_unlock (&spiMutex) ;
+void rfNoInterrupts(){
+  pthread_mutex_lock (&pinMutex) ;
 }
 
-
+void rfInterrupts(){
+  pthread_mutex_unlock (&pinMutex) ;
+}
\ No newline at end of file

utility/RPi/interrupt.h

@@ -52,10 +52,18 @@ extern int piHiPri (const int pri);
  *********************************************************************************
  */
 extern int attachInterrupt (int pin, int mode, void (*function)(void));
+
+/*
+ * detachInterrupt:
+ *      Pi Specific detachInterrupt.
+ *      Will cancel the interrupt thread, close the filehandle and 
+ *		setting wiringPi back to 'none' mode.
+ *********************************************************************************
+ */
+extern int detachInterrupt (int pin);
+
 extern void rfNoInterrupts();
 extern void rfInterrupts();
-extern void spiNoInterrupts();
-extern void spiInterrupts();
 #ifdef __cplusplus
 }
 #endif
\ No newline at end of file

utility/RPi/spi.cpp

-
-
 #include "spi.h"
+#include <pthread.h>
+
+static pthread_mutex_t spiMutex;
 
 SPI::SPI() {
 
@@ -8,42 +9,40 @@ SPI::SPI() {
 
 
 void SPI::begin( int busNo ) {
-    spiNoInterrupts();
 	if (!bcm2835_init()){
-        spiInterrupts();
 		return;
 	}
 	
 	bcm2835_spi_begin();
-	spiInterrupts();
 }
 
-void SPI::end() {
+void SPI::beginTransaction(SPISettings settings){
+   
+	pthread_mutex_lock (&spiMutex);
+	setBitOrder(settings.border);
+	setDataMode(settings.dmode);
+	setClockDivider(settings.clck);
+}
 
+void SPI::endTransaction() {
+	pthread_mutex_unlock (&spiMutex);
 }
 
 void SPI::setBitOrder(uint8_t bit_order) {
-    spiNoInterrupts();
 	bcm2835_spi_setBitOrder(bit_order);
-    spiInterrupts();
 }
 
 void SPI::setDataMode(uint8_t data_mode) {
-  spiNoInterrupts();
   bcm2835_spi_setDataMode(data_mode);
-  spiInterrupts();
 }
 
 void SPI::setClockDivider(uint16_t spi_speed) {
-    spiNoInterrupts();
 	bcm2835_spi_setClockDivider(spi_speed);
-    spiInterrupts();
 }
 
 void SPI::chipSelect(int csn_pin){
-    spiNoInterrupts();
 	bcm2835_spi_chipSelect(csn_pin);
-    spiInterrupts();
+	delayMicroseconds(5);
 }
 
 SPI::~SPI() {

utility/RPi/spi.h

@@ -14,6 +14,31 @@
 #include "bcm2835.h"
 #include "interrupt.h"
 
+#define SPI_HAS_TRANSACTION
+#define MSBFIRST BCM2835_SPI_BIT_ORDER_MSBFIRST
+#define SPI_MODE0 BCM2835_SPI_MODE0
+#define RF24_SPI_SPEED BCM2835_SPI_SPEED_8MHZ
+    
+class SPISettings {
+public:
+	SPISettings(uint32_t clock, uint8_t bitOrder, uint8_t dataMode) {
+        init(clock,bitOrder,dataMode);
+	}
+    SPISettings() { init(RF24_SPI_SPEED, MSBFIRST, SPI_MODE0); }
+
+    uint32_t clck;
+    uint8_t border;
+    uint8_t dmode;
+private:
+
+	void init(uint32_t clock, uint8_t bitOrder, uint8_t dataMode) {
+                clck = clock;
+                border = bitOrder;
+                dmode = dataMode;
+	}
+	friend class SPIClass;
+};
+
 
 class SPI {
 public:
@@ -32,20 +57,21 @@ public:
   static void setDataMode(uint8_t data_mode);
   static void setClockDivider(uint16_t spi_speed);
   static void chipSelect(int csn_pin);
+  
+  static void beginTransaction(SPISettings settings);
+  static void endTransaction();
+  
+  
 };
 
 
 uint8_t SPI::transfer(uint8_t _data) {
-    spiNoInterrupts();
-    uint8_t data = bcm2835_spi_transfer(_data);	
-    spiInterrupts();
+    uint8_t data = bcm2835_spi_transfer(_data);
     return data;
 }
 
 void SPI::transfernb(char* tbuf, char* rbuf, uint32_t len){
-   spiNoInterrupts();
    bcm2835_spi_transfernb( tbuf, rbuf, len);
-   spiInterrupts();
 }
 
 void SPI::transfern(char* buf, uint32_t len)