Merge gcopeland/constremove

RF24.cpp

@@ -8,8 +8,8 @@
 
 #include <WProgram.h>
 #include <SPI.h>
-#include "RF24.h"
 #include "nRF24L01.h"
+#include "RF24.h"
 
 #undef SERIAL_DEBUG
 #ifdef SERIAL_DEBUG
@@ -28,16 +28,17 @@
 
 void RF24::csn(int mode)
 {
+  SPI.setBitOrder(MSBFIRST);
   SPI.setDataMode(SPI_MODE0);
-  SPI.setClockDivider(SPI_CLOCK_DIV8);
+  SPI.setClockDivider(SPI_CLOCK_DIV2); 
   digitalWrite(csn_pin,mode);
 }
 
 /****************************************************************************/
 
-void RF24::ce(int mode)
+void RF24::ce(int level)
 {
-  digitalWrite(ce_pin,mode);
+  digitalWrite(ce_pin,level);
 }
 
 /****************************************************************************/
@@ -252,8 +253,9 @@ void RF24::print_address_register(prog_char* name, uint8_t reg, uint8_t qty)
 
 /****************************************************************************/
 
-RF24::RF24(uint8_t _cepin, uint8_t _cspin):
-  ce_pin(_cepin), csn_pin(_cspin), payload_size(32), ack_payload_available(false)
+RF24::RF24(uint8_t _cepin, uint8_t _cspin): 
+    ce_pin(_cepin), csn_pin(_cspin), wide_band(true), p_variant(false),
+    payload_size(32), ack_payload_available(false)
 {
 }
 
@@ -295,38 +297,82 @@ void RF24::printDetails(void)
   print_byte_register(PSTR("RF_SETUP"),RF_SETUP);
   print_byte_register(PSTR("CONFIG"),CONFIG);
   print_byte_register(PSTR("DYNPD/FEATURE"),DYNPD,2);
+
+  // These need to be merged in with the register printing scheme 
+#if 0
+  read_register(RF_SETUP,buffer,1);
+  printf_P(PSTR("RF_SETUP = 0x%02x (data rate: %d)\n\r"),*buffer,getDataRate());  
+  printf_P(PSTR("Hardware; isPVariant: %d\n\r"),isPVariant());
+
+  read_register(CONFIG,buffer,1);
+  printf_P(PSTR("CONFIG = 0x%02x (CRC enable: %d; CRC16: %d)\n\r"),
+	   *buffer,(*buffer)&_BV(EN_CRC)?1:0,
+	   (*buffer)&_BV(CRCO)?1:0); 
+#endif
 }
 
 /****************************************************************************/
 
 void RF24::begin(void)
 {
+  // Initialize pins
   pinMode(ce_pin,OUTPUT);
   pinMode(csn_pin,OUTPUT);
 
-  ce(LOW);
-  csn(HIGH);
-
+  // Initialize SPI bus
+  // Minimum ideal SPI bus speed is 2x data rate
+  // If we assume 2Mbs data rate and 16Mhz clock, a
+  // divider of 4 is the minimum we want.
+  // CLK:BUS 8Mhz:2Mhz, 16Mhz:4Mhz, or 20Mhz:5Mhz
+  // We'll use a divider of 2 which will work up to
+  // MCU speeds of 20Mhz.
+  // CLK:BUS 8Mhz:4Mhz, 16Mhz:8Mhz, or 20Mhz:10Mhz (max)
   SPI.begin();
   SPI.setBitOrder(MSBFIRST);
   SPI.setDataMode(SPI_MODE0);
-  SPI.setClockDivider(SPI_CLOCK_DIV8);
+  SPI.setClockDivider(SPI_CLOCK_DIV2); 
+
+  ce(LOW);
+  csn(HIGH);
+
+  // Must allow the radio time to settle else configuration bits will not necessarily stick.
+  // This is actually only required following power up but some settling time also appears to
+  // be required after resets too. For full coverage, we'll always assume the worst.
+  // Enabling 16b CRC is by far the most obvious case if the wrong timing is used - or skipped.
+  // Technically we require 4.5ms + 14us as a worst case. We'll just call it 5ms for good measure.
+  // WARNING: Delay is based on P-variant whereby non-P *may* require different timing.
+  delay( 5 ) ;
+
+  // Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
+  // WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
+  // sizes must never be used. See documentation for a more complete explanation.
+  write_register(SETUP_RETR,(B0100 << ARD) | (B1111 << ARC));
+
+  // Restore our default PA level
+  setPALevel( RF24_PA_MAX ) ;
+
+  // Determine if this is a p or non-p RF24 module and then
+  // reset our data rate back to default value. This works
+  // because a non-P variant won't allow the data rate to
+  // be set to 250Kbps.
+  if( setDataRate( RF24_250KBPS ) ) {
+      p_variant = true ;
+  }
+  setDataRate( RF24_2MBPS ) ;
 
-  // Set generous timeouts, to make testing a little easier
-  write_register(SETUP_RETR,(B1111 << ARD) | (B1111 << ARC));
+  // Initialize CRC and request 2-byte (16bit) CRC
+  setCRCLength( RF24_CRC_16 ) ;
 
   // Reset current status
+  // Notice reset and flush is the last thing we do
   write_register(STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
 
-  // Initialize CRC
-  write_register(CONFIG, _BV(EN_CRC) );
-
+  // Set up default configuration.  Callers can always change it later.
+  setChannel(1);
+ 
   // Flush buffers
   flush_rx();
   flush_tx();
-
-  // Set up default configuration.  Callers can always change it later.
-  setChannel(1);
 }
 
 /****************************************************************************/
@@ -337,7 +383,7 @@ void RF24::startListening(void)
   write_register(STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
 
   // Restore the pipe0 adddress
-  write_register(RX_ADDR_P0, reinterpret_cast<uint8_t*>(&pipe0_reading_address), 5);
+  write_register(RX_ADDR_P0, reinterpret_cast<const uint8_t*>(&pipe0_reading_address), 5);
 
   // Flush buffers
   flush_rx();
@@ -365,7 +411,14 @@ void RF24::powerDown(void)
 
 /****************************************************************************/
 
-bool RF24::write( const void* buf, uint8_t len )
+void RF24::powerUp(void)
+{
+  write_register(CONFIG,read_register(CONFIG) | _BV(PWR_UP));
+}
+
+/******************************************************************/
+
+boolean RF24::write( const void* buf, uint8_t len )
 {
   bool result = false;
 
@@ -380,6 +433,9 @@ bool RF24::write( const void* buf, uint8_t len )
   // or MAX_RT (maximum retries, transmission failed).  Also, we'll timeout in case the radio
   // is flaky and we get neither.
 
+  // IN the end, the send should be blocking.  It comes back in 60ms worst case, or much faster
+  // if I tighted up the retry logic.  (Default settings will be 1500us.
+  // Monitor the send
   uint8_t observe_tx;
   uint8_t status;
   uint32_t sent_at = millis();
@@ -524,9 +580,9 @@ void RF24::whatHappened(bool& tx_ok,bool& tx_fail,bool& rx_ready)
 
 void RF24::openWritingPipe(uint64_t value)
 {
-  // Note that AVR 8-bit uC's store this LSB first, and the NRF24L01
-  // expects it LSB first too, so we're good.
-
+  // Note that AVR 8-bit uC's store this LSB first, and the NRF24L01(+)
+  // expects it LSB first too, so we're good.  
+  
   write_register(RX_ADDR_P0, reinterpret_cast<uint8_t*>(&value), 5);
   write_register(TX_ADDR, reinterpret_cast<uint8_t*>(&value), 5);
   write_register(RX_PW_P0,min(payload_size,32));
@@ -534,7 +590,7 @@ void RF24::openWritingPipe(uint64_t value)
 
 /****************************************************************************/
 
-void RF24::openReadingPipe(uint8_t child, uint64_t value)
+void RF24::openReadingPipe(uint8_t child, uint64_t address)
 {
   const uint8_t child_pipe[] =
   {
@@ -553,15 +609,15 @@ void RF24::openReadingPipe(uint8_t child, uint64_t value)
   // openWritingPipe() will overwrite the pipe 0 address, so
   // startListening() will have to restore it.
   if (child == 0)
-    pipe0_reading_address = value;
+    pipe0_reading_address = address;
 
-  if (child <= 5)
+  if (child <= 6)
   {
     // For pipes 2-5, only write the LSB
     if ( child < 2 )
-      write_register(child_pipe[child], reinterpret_cast<uint8_t*>(&value), 5);
+      write_register(child_pipe[child], reinterpret_cast<const uint8_t*>(&value), 5);
     else
-      write_register(child_pipe[child], reinterpret_cast<uint8_t*>(&value), 1);
+      write_register(child_pipe[child], reinterpret_cast<const uint8_t*>(&value), 1);
 
     write_register(child_payload_size[child],payload_size);
 
@@ -659,6 +715,12 @@ bool RF24::isAckPayloadAvailable(void)
 
 /****************************************************************************/
 
+boolean RF24::isPVariant(void) {
+    return p_variant ;
+}
+
+/******************************************************************/
+
 void RF24::setAutoAck(bool enable)
 {
   if ( enable )
@@ -669,38 +731,190 @@ void RF24::setAutoAck(bool enable)
 
 /****************************************************************************/
 
-bool RF24::testCarrier(void)
+void RF24::setAutoAck( uint8_t pipe, bool enable )
+{
+  if ( pipe <= 6 )
+  {
+    uint8_t en_aa = read_register( EN_AA ) ;
+    if( enable ) {
+	en_aa |= _BV(pipe) ;
+    } else {
+	en_aa &= ~_BV(pipe) ;
+    }
+    write_register( EN_AA, en_aa ) ;
+  }
+}
+
+/******************************************************************/
+
+boolean RF24::testCarrier(void)
 {
   return ( read_register(CD) & 1 );
 }
 
 /****************************************************************************/
 
-void RF24::setDataRate(rf24_datarate_e speed)
+boolean RF24::testRPD(void)
+{
+  return ( read_register(RPD) & 1 ) ;
+}
+
+/******************************************************************/
+
+void RF24::setPALevel(rf24_pa_dbm_e level)
+{
+  uint8_t setup = read_register(RF_SETUP) ;
+  setup &= ~(_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
+
+  switch( level )
+  {
+  case RF24_PA_MAX:
+      setup |= (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
+      break ;
+
+  case RF24_PA_HIGH:
+      setup |= _BV(RF_PWR_HIGH) ;
+      break ;
+
+  case RF24_PA_LOW:
+      setup |= _BV(RF_PWR_LOW) ;
+      break ;
+
+  case RF24_PA_MIN:
+      break ;
+
+  case RF24_PA_ERROR:
+      // On error, go to maximum PA
+      setup |= (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
+      break ;
+  }
+
+  write_register( RF_SETUP, setup ) ;
+}
+
+/******************************************************************/
+
+rf24_pa_dbm_e RF24::getPALevel(void)
+{
+  rf24_pa_dbm_e result = RF24_PA_ERROR ;
+  uint8_t power = read_register(RF_SETUP) & (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)) ;
+
+  switch( power )
+  {
+  case (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH)):
+      result = RF24_PA_MAX ;
+      break ;
+
+  case _BV(RF_PWR_HIGH):
+      result = RF24_PA_HIGH ;
+      break ;
+
+  case _BV(RF_PWR_LOW):
+      result = RF24_PA_LOW ;
+      break ;
+
+  default:
+      result = RF24_PA_MIN ;
+      break ;
+  }
+
+  return result ;
+}
+
+/******************************************************************/
+
+boolean RF24::setDataRate(rf24_datarate_e speed)
 {
-  uint8_t setup = read_register(RF_SETUP) & ~_BV(RF_DR);
-  if (speed == RF24_2MBPS)
-    setup |= _BV(RF_DR);
+  uint8_t setup = read_register(RF_SETUP) ;
+
+  // HIGH and LOW '00' is 1Mbs - our default
+  wide_band = false ;
+  setup &= ~(_BV(RF_DR_LOW) | _BV(RF_DR_HIGH)) ;
+  if( speed == RF24_250KBPS )
+  {
+    // Must set the RF_DR_LOW to 1; RF_DR_HIGH (used to be RF_DR) is already 0
+    // Making it '10'.
+    wide_band = false ;
+    setup |= _BV( RF_DR_LOW ) ;
+  }
+  else
+  {
+    // Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
+    // Making it '01'
+    if ( speed == RF24_2MBPS )
+    {
+      wide_band = true ;
+      setup |= _BV(RF_DR_HIGH);
+    } 
+    else 
+    {
+      // 1Mbs
+      wide_band = false ;
+    }
+  }
   write_register(RF_SETUP,setup);
 
+  // Verify our result
+  setup = read_register(RF_SETUP) ;
+  if( setup == setup ) {
+      return true ;
+  }
+
+  wide_band = false ;
+  return false ;
+}
+
+/******************************************************************/
+
+rf24_datarate_e RF24::getDataRate( void ) {
+  rf24_datarate_e result ;
+  uint8_t setup = read_register(RF_SETUP) ;
+
+  // Order matters in our case below
+  switch( setup & (_BV(RF_DR_LOW) | _BV(RF_DR_HIGH)) ) {
+  case _BV(RF_DR_LOW):
+      // '10' = 250KBPS
+      result = RF24_250KBPS ;
+      break ;
+
+  case _BV(RF_DR_HIGH):
+      // '01' = 2MBPS
+      result = RF24_2MBPS ;
+      break ;
+
+  default:
+      // '00' = 1MBPS
+      result = RF24_1MBPS ;
+      break ;
+  }
+
+  return result ;
 }
 
 /****************************************************************************/
 
 void RF24::setCRCLength(rf24_crclength_e length)
 {
-  uint8_t config = read_register(CONFIG) & ~_BV(CRCO);
-  if (length == RF24_CRC_16)
-    config |= _BV(CRCO);
-  write_register(CONFIG,config);
+  uint8_t config = read_register(CONFIG) & ~_BV(CRCO) ;
+
+  // Always make sure CRC hardware validation is actually on
+  config |= _BV(EN_CRC) ;
+
+  // Now config 8 or 16 bit CRCs - only 16bit need be turned on
+  // 8b is the default.
+  if( length == RF24_CRC_16 ) {
+    config |= _BV( CRCO ) ;
+  }
+
+  write_register( CONFIG, config ) ;
 }
 
-/****************************************************************************/
+/******************************************************************/
 
-void RF24::setRetries(uint8_t delay, uint8_t count)
+void RF24::disableCRC( void )
 {
-  write_register(SETUP_RETR,(delay&0xf)<<ARD | (count&0xf)<<ARC);
+  uint8_t disable = read_register(CONFIG) & ~_BV(EN_CRC) ;
+  write_register( CONFIG, disable ) ;
 }
-
 // vim:ai:cin:sts=2 sw=2 ft=cpp
 

RF24.h

@@ -12,7 +12,8 @@
 #include <stddef.h>
 #include <avr/pgmspace.h>
 
-typedef enum { RF24_1MBPS = 0, RF24_2MBPS } rf24_datarate_e;
+typedef enum { RF24_PA_MIN = 0,RF24_PA_LOW, RF24_PA_HIGH, RF24_PA_MAX, RF24_PA_ERROR } rf24_pa_dbm_e ;
+typedef enum { RF24_1MBPS = 0, RF24_2MBPS, RF24_250KBPS } rf24_datarate_e;
 typedef enum { RF24_CRC_8 = 0, RF24_CRC_16 } rf24_crclength_e;
 
 /**
@@ -24,6 +25,8 @@ class RF24
 private:
   uint8_t ce_pin; /**< "Chip Enable" pin, activates the RX or TX role */
   uint8_t csn_pin; /**< SPI Chip select */
+  bool wide_band; /* 2Mbs data rate in use? */
+  bool p_variant; /* False for RF24L01 and true for RF24L01P */
   uint8_t payload_size; /**< Fixed size of payloads */
   bool ack_payload_available; /**< Whether there is an ack payload waiting */
   uint8_t ack_payload_length; /**< Dynamic size of pending ack payload. Note: not used. */
@@ -42,6 +45,11 @@ protected:
   /**
    * Set chip select pin
    *
+   * Running SPI bus at PI_CLOCK_DIV2 so we don't waste time transferring data
+   * and best of all, we make use of the radio's FIFO buffers. A lower speed
+   * means we're less likely to effectively leverage our FIFOs and pay a higher
+   * AVR runtime cost as toll.
+   *
    * @param mode HIGH to take this unit off the SPI bus, LOW to put it on
    */
   void csn(int mode);
@@ -49,10 +57,10 @@ protected:
   /**
    * Set chip enable
    *
-   * @param mode HIGH to actively begin transmission or LOW to put in standby.  Please see data sheet
+   * @param level HIGH to actively begin transmission or LOW to put in standby.  Please see data sheet
    * for a much more detailed description of this pin.
    */
-  void ce(int mode);
+  void ce(int level);
 
   /**
    * Read a chunk of data in from a register
@@ -390,6 +398,13 @@ public:
    */
   void powerDown(void);
 
+  /**
+   * Leave low-power mode - making radio more responsive
+   *
+   * To return to low power mode, call powerDown().
+   */
+  void powerUp(void) ;
+
   /**
    * Test whether there are bytes available to be read
    *
@@ -467,6 +482,14 @@ public:
    */
   bool isAckPayloadAvailable(void);
 
+  /**
+   * Determine whether the hardware is an nRF24L01+ or not.
+   *
+   * @return true if the hardware is nRF24L01+ (or compatible) and false
+   * if its not.
+   */
+  boolean isPVariant(void) ;
+
   /**
    * Call this when you get an interrupt to find out why
    *
@@ -489,6 +512,17 @@ public:
    */
   void setAutoAck(bool enable);
 
+  /**
+   * Enable or disable auto-acknowlede packets on a per pipeline basis.
+   *
+   * AA is enabled by default, so it's only needed if you want to turn
+   * it off/on for some reason on a per pipeline basis.
+   *
+   * @param which pipeline to modify
+   * @param enable Whether to enable (true) or disable (false) auto-acks
+   */
+  void setAutoAck( uint8_t pipe, bool enable ) ;
+
   /**
    * Test whether there was a carrier on the line for the
    * previous listening period.
@@ -499,10 +533,43 @@ public:
    */
   bool testCarrier(void);
 
+  /**
+   * Test whether a signal (carrier or otherwise) greater than
+   * or equal to -64dBm is present on the channel. Valid only
+   * on nRF24L01P (+) hardware. On nRF24L01, use testCarrier().
+   *
+   * Useful to check for interference on the current channel and
+   * channel hopping strategies.
+   *
+   * @return true if signal => -64dBm, false if not
+   */
+  boolean testRPD(void) ;
+
+  /**
+   * Set Power Amplifier (PA) level to one of four levels.
+   * Relative mnemonics have been used to allow for future PA level
+   * changes. According to 6.5 of the nRF24L01+ specification sheet,
+   * they translate to: RF24_PA_MIN=-18dBm, RF24_PA_LOW=-12dBm,
+   * RF24_PA_MED=-6dBM, and RF24_PA_HIGH=0dBm.
+   *
+   * @param Desired PA level.
+   */
+  void setPALevel( rf24_pa_dbm_e level ) ;
+
+  /**
+   * Fetches the current PA level. 
+   *
+   * @return Returns a value from the rf24_pa_dbm_e enum describing
+   * the current PA setting. Please remember, all values represented
+   * by the enum mnemonics are negative dBm. See setPALevel for
+   * return value descriptions.
+   */
+  rf24_pa_dbm_e getPALevel( void ) ;
+
   /**
    * Set the transmission data rate
    *
-   * @param speed RF24_1MBPS for 1Mbps or RF24_2MBPS for 2Mbps
+   * @param speed RF24_250KBPS for 250kbs, RF24_1MBPS for 1Mbps, or RF24_2MBPS for 2Mbps
    */
   void setDataRate(rf24_datarate_e speed);
 
@@ -513,6 +580,12 @@ public:
    */
   void setCRCLength(rf24_crclength_e length);
 
+  /**
+   * Disable CRC validation
+   *
+   */
+  void disableCRC( void ) ;
+
   /**@}*/
 };
 

nRF24L01.h

@@ -75,8 +75,7 @@
 #define ARC         0
 #define PLL_LOCK    4
 #define RF_DR       3
-#define RF_PWR      1
-#define LNA_HCURR   0        
+#define RF_PWR      6
 #define RX_DR       6
 #define TX_DS       5
 #define MAX_RT      4
@@ -112,3 +111,15 @@
 #define FLUSH_RX      0xE2
 #define REUSE_TX_PL   0xE3
 #define NOP           0xFF
+
+/* Non-P omissions */
+#define LNA_HCURR   0
+
+/* P model memory Map */
+#define RPD         0x09
+
+/* P model bit Mnemonics */
+#define RF_DR_LOW   5
+#define RF_DR_HIGH  3
+#define RF_PWR_LOW  1
+#define RF_PWR_HIGH 2