要做无线控制传输，最终选择便宜入门的nRF24L01(+)模块。
一开始把一个模块接了usb转spi的模块5v，结果被烧坏了，无奈又下单。
系统是树莓派2/3，接nRF24L01有7个管脚是必须要接的，如下：
| 1 | VCC | 官方规范说3~5v，但最好老实用3.3V |
| 2 | GND | 接地 |
| 3 | CE | 始能管脚，这个根据自己板上定义，选择IO管脚即可 |
| 4 | CSN | 片选，接CS0 |
| 5 | SCK | SPI时钟 |
| 6 | MOSI | 输入输出 |
| 7 | MISO | 输入输出 |
| 8 | IRQ | 中断悬空 |
看了半天技术规范，然后参考了开源的RF24的代码。要注意收发模块的各功能参数配置要一致，如速率，信道，校验等，否则无法通信。
编译后运行，总算有收发信息了，但问题是为什么断断续续的，不是一边没收到，就是一边没有回复，卡顿半天，就这还无线通信？整了几天都没整明白。网络上找解答，看到有说是周围干扰如wifi信息引起的，通过变换信道，问题依旧，最后无奈只能分析链路过程，确认是哪边block住的，然后调试代码。最后问题定位是SPI读写timing和CE高电平的维持时间有关。规范上说ce高电平维持130us即可，但实际根据不同平台系统硬件可能需要调节。当然使用高的信道也是优先的选项。
我的实例中最终ce持续时间设了8ms才保持无block。
如果大虾也做过nrf24l01的项目，欢迎留言评论。最后上代码，例子是transmitter发送信息等待回复，receiver接收信息并原样回复。
RF24.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.
03/17/2013 : Charles-Henri Hallard (http://hallard.me)
Modified to use with Arduipi board http://hallard.me/arduipi
Modified to use the great bcm2835 library for I/O and SPI
*/
/**
* @file RF24.h
*
* Class declaration for RF24 and helper enums
*/
#ifndef __RF24_H__
#define __RF24_H__
#include <nRF24L01.h>
#include <bcm2835.h>
#define DEBUG 0
/// \brief bcm2835SPISpeed
/// Specifies the divider used to generate the SPI clock from the system clock.
/// Figures below give the clock speed instead of clock divider.
#define BCM2835_SPI_SPEED_64MHZ BCM2835_SPI_CLOCK_DIVIDER_4
#define BCM2835_SPI_SPEED_32MHZ BCM2835_SPI_CLOCK_DIVIDER_8
#define BCM2835_SPI_SPEED_16MHZ BCM2835_SPI_CLOCK_DIVIDER_16
#define BCM2835_SPI_SPEED_8MHZ BCM2835_SPI_CLOCK_DIVIDER_32
#define BCM2835_SPI_SPEED_4MHZ BCM2835_SPI_CLOCK_DIVIDER_64
#define BCM2835_SPI_SPEED_2MHZ BCM2835_SPI_CLOCK_DIVIDER_128
#define BCM2835_SPI_SPEED_1MHZ BCM2835_SPI_CLOCK_DIVIDER_256
#define BCM2835_SPI_SPEED_512KHZ BCM2835_SPI_CLOCK_DIVIDER_512
#define BCM2835_SPI_SPEED_256KHZ BCM2835_SPI_CLOCK_DIVIDER_1024
#define BCM2835_SPI_SPEED_128KHZ BCM2835_SPI_CLOCK_DIVIDER_2048
#define BCM2835_SPI_SPEED_64KHZ BCM2835_SPI_CLOCK_DIVIDER_4096
#define BCM2835_SPI_SPEED_32KHZ BCM2835_SPI_CLOCK_DIVIDER_8192
#define BCM2835_SPI_SPEED_16KHZ BCM2835_SPI_CLOCK_DIVIDER_16384
#define BCM2835_SPI_SPEED_8KHZ BCM2835_SPI_CLOCK_DIVIDER_32768
#define max(a, b) (a > b ? a : b)
#define min(a, b) (a < b ? a : b)
#define _BV(x) (1 << (x))
#define pgm_read_word(p) (*(p))
#define pgm_read_byte(p) (*(p))
/**
* Power Amplifier level.
*
* For use with setPALevel()
*/
typedef enum
{
RF24_PA_MIN = 0,
RF24_PA_LOW,
RF24_PA_HIGH,
RF24_PA_MAX,
RF24_PA_ERROR
} rf24_pa_dbm_e;
/**
* Data rate. How fast data moves through the air.
*
* For use with setDataRate()
*/
typedef enum
{
RF24_1MBPS = 0,
RF24_2MBPS,
RF24_250KBPS
} rf24_datarate_e;
/**
* CRC Length. How big (if any) of a CRC is included.
*
* For use with setCRCLength()
*/
typedef enum
{
RF24_CRC_DISABLED = 0,
RF24_CRC_8,
RF24_CRC_16
} rf24_crclength_e;
/**
* Driver for nRF24L01(+) 2.4GHz Wireless Transceiver
*/
class RF24
{
public:
/**
* Enable error detection by un-commenting #define FAILURE_HANDLING in RF24_config.h
* If a failure has been detected, it usually indicates a hardware issue. By default the library
* will cease operation when a failure is detected.
* This should allow advanced users to detect and resolve intermittent hardware issues.
*
* In most cases, the radio must be re-enabled via radio.begin(); and the appropriate settings
* applied after a failure occurs, if wanting to re-enable the device immediately.
*
* Usage: (Failure handling must be enabled per above)
* @code
* if(radio.failureDetected){
* radio.begin(); // Attempt to re-configure the radio with defaults
* radio.failureDetected = 0; // Reset the detection value
* radio.openWritingPipe(addresses[1]); // Re-configure pipe addresses
* radio.openReadingPipe(1,addresses[0]);
* report_failure(); // Blink leds, send a message, etc. to indicate failure
* }
* @endcode
**/
#if defined(FAILURE_HANDLING)
bool failureDetect;
#endif
private:
uint8_t ce_pin; /**< "Chip Enable" pin, activates the RX or TX role */
uint8_t csn_pin; /**< SPI Chip select */
uint16_t spi_speed; /**< SPI Bus Speed */
uint8_t com_channel; /**< Comunication channel*/
uint32_t cehighus; /**< CE high delay in microsecond*/
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 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;
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)
protected:
/**
* @name Low-level internal interface.
*
* Protected methods that address the chip directly. Regular users cannot
* ever call these. They are documented for completeness and for developers who
* may want to extend this class.
*/
/**@{*/
/**
* Read a chunk of data in from a register
*
* @param reg Which register. Use constants from nRF24L01.h
* @param buf Where to put the data
* @param len How many bytes of data to transfer
* @return Current value of status register
*/
uint8_t read_register(uint8_t reg, uint8_t *buf, uint8_t len);
/**
* Read single byte from a register
*
* @param reg Which register. Use constants from nRF24L01.h
* @return Current value of register @p reg
*/
uint8_t read_register(uint8_t reg);
/**
* Write a chunk of data to a register
*
* @param reg Which register. Use constants from nRF24L01.h
* @param buf Where to get the data
* @param len How many bytes of data to transfer
* @return Current value of status register
*/
uint8_t write_register(uint8_t reg, const uint8_t *buf, uint8_t len);
/**
* Write a single byte to a register
*
* @param reg Which register. Use constants from nRF24L01.h
* @param value The new value to write
* @return Current value of status register
*/
uint8_t write_register(uint8_t reg, uint8_t value);
/**
* Write the transmit payload
*
* The size of data written is the fixed payload size, see getPayloadSize()
*
* @param buf Where to get the data
* @param len Number of bytes to be sent
* @return Current value of status register
*/
uint8_t write_payload(const void *buf, uint8_t len, const uint8_t writeType);
/**
* Read the receive payload
*
* The size of data read is the fixed payload size, see getPayloadSize()
*
* @param buf Where to put the data
* @param len Maximum number of bytes to read
* @return Current value of status register
*/
uint8_t read_payload(void *buf, uint8_t len);
/**
* Empty the receive buffer
*
* @return Current value of status register
*/
uint8_t flush_rx(void);
/**
* Retrieve the current status of the chip
*
* @return Current value of status register
*/
uint8_t get_status(void);
/**
* Decode and print the given status to stdout
*
* @param status Status value to print
*
* @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
*/
void print_status(uint8_t status);
/**
* Decode and print the given 'observe_tx' value to stdout
*
* @param value The observe_tx value to print
*
* @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
*/
void print_observe_tx(uint8_t value);
/**
* Print the name and value of an 8-bit register to stdout
*
* Optionally it can print some quantity of successive
* registers on the same line. This is useful for printing a group
* of related registers on one line.
*
* @param name Name of the register
* @param reg Which register. Use constants from nRF24L01.h
* @param qty How many successive registers to print
*/
void print_byte_register(const char *name, uint8_t reg, uint8_t qty = 1);
/**
* Print the name and value of a 40-bit address register to stdout
*
* Optionally it can print some quantity of successive
* registers on the same line. This is useful for printing a group
* of related registers on one line.
*
* @param name Name of the register
* @param reg Which register. Use constants from nRF24L01.h
* @param qty How many successive registers to print
*/
void print_address_register(const char *name, uint8_t reg, uint8_t qty = 1);
/**
* Turn on or off the special features of the chip
*
* The chip has certain 'features' which are only available when the 'features'
* are enabled. See the datasheet for details.
*/
void toggle_features(void);
#if defined(FAILURE_HANDLING)
void errNotify(void);
#endif
/**@}*/
public:
unsigned int bcm2835_millis(void);
/**
* @name Primary public interface
*
* These are the main methods you need to operate the chip
*/
/**@{*/
/**
* 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.
*
* @param _cepin The pin attached to Chip Enable on the RF module
* @param _cspin The pin attached to Chip Select
* @param spispeed SPI speed
* @param _channel for comunication
* @param _cehighus
*/
RF24(uint8_t _cepin, uint8_t _cspin);
RF24(uint8_t _cepin, uint8_t _cspin, uint32_t spispeed, uint8_t _channel,uint32_t _cehighus);
/**
* Begin operation of the chip
*
* Call this in setup(), before calling any other methods.
*/
bool begin(void);
/**
* Start listening on the pipes opened for reading.
*
* Be sure to call openReadingPipe() first. Do not call write() while
* in this mode, without first calling stopListening(). Call
* isAvailable() to check for incoming traffic, and read() to get it.
*/
void startListening(void);
/**
* Stop listening for incoming messages
*
* Do this before calling write().
*/
void stopListening(void);
/**
* Write to the open writing pipe
*
* Be sure to call openWritingPipe() first to set the destination
* of where to write to.
*
* This blocks until the message is successfully acknowledged by
* the receiver or the timeout/retransmit maxima are reached. In
* the current configuration, the max delay here is 60ms.
*
* The maximum size of data written is the fixed payload size, see
* getPayloadSize(). However, you can write less, and the remainder
* will just be filled with zeroes.
*
* @param buf Pointer to the data to be sent
* @param len Number of bytes to be sent
* @return True if the payload was delivered successfully false if not
*/
bool write(const void *buf, uint8_t len);
/**
* Test whether there are bytes available to be read
*
* @return True if there is a payload available, false if none is
*/
bool available(void);
/**
* Read the payload
*
* Return the last payload received
*
* The size of data read is the fixed payload size, see getPayloadSize()
*
* @note I specifically chose 'void*' as a data type to make it easier
* for beginners to use. No casting needed.
*
* @param buf Pointer to a buffer where the data should be written
* @param len Maximum number of bytes to read into the buffer
* @return True if the payload was delivered successfully false if not
*/
void read(void *buf, uint8_t len);
/**
* New: Open a pipe for writing
*
* Only one pipe can be open at once, but you can change the pipe
* you'll write to. Call stopListening() first.
*
* Addresses are assigned via a byte array, default is 5 byte address length
*
* Usage is exactly the same as before, except for declaring the array
*
* @code
* uint8_t addresses[][6] = {"1Node","2Node"};
* openWritingPipe(addresses[0]);
* @endcode
* @see setAddressWidth
*
* @param address The address of the pipe to open. Coordinate these pipe
* addresses amongst nodes on the network.
*/
void openWritingPipe(const uint8_t *address);
/**
* Open a pipe for reading
*
* Up to 6 pipes can be open for reading at once. Open all the
* reading pipes, and then call startListening().
*
* @see openWritingPipe
* @see setAddressWidth
*
* @warning Pipes 1-5 should share the same address, except the first byte.
* Only the first byte in the array should be unique, e.g.
* @code
* uint8_t addresses[][6] = {"1Node","2Node"};
* openReadingPipe(1,addresses[0]);
* openReadingPipe(2,addresses[1]);
* @endcode
*
* @warning Pipe 0 is also used by the writing pipe. So if you open
* pipe 0 for reading, and then startListening(), it will overwrite the
* writing pipe. Ergo, do an openWritingPipe() again before write().
*
* @param number Which pipe# to open, 0-5.
* @param address The 24, 32 or 40 bit address of the pipe to open.
*/
void openReadingPipe(uint8_t number, const uint8_t *address);
/**
* Empty the transmit buffer
*
* @return Current value of status register
*/
uint8_t flush_tx(void);
/**@}*/
/**
* @name Optional Configurators
*
* Methods you can use to get or set the configuration of the chip.
* None are required. Calling begin() sets up a reasonable set of
* defaults.
*/
/**@{*/
/**
* Set the number and delay of retries upon failed submit
*
* @param delay How long to wait between each retry, in multiples of 250us,
* max is 15. 0 means 250us, 15 means 4000us.
* @param count How many retries before giving up, max 15
*/
void setRetries(uint8_t delay, uint8_t count);
/**
* Set RF communication channel
*
* @param channel Which RF channel to communicate on, 0-127
*/
void setChannel(uint8_t channel);
/**
* Set Static Payload Size
*
* This implementation uses a pre-stablished fixed payload size for all
* transmissions. If this method is never called, the driver will always
* transmit the maximum payload size (32 bytes), no matter how much
* was sent to write().
*
* @todo Implement variable-sized payloads feature
*
* @param size The number of bytes in the payload
*/
void setPayloadSize(uint8_t size);
/**
* Get Static Payload Size
*
* @see setPayloadSize()
*
* @return The number of bytes in the payload
*/
uint8_t getPayloadSize(void);
/**
* Get Dynamic Payload Size
*
* For dynamic payloads, this pulls the size of the payload off
* the chip
*
* @return Payload length of last-received dynamic payload
*/
uint8_t getDynamicPayloadSize(void);
/**
* Enable custom payloads on the acknowledge packets
*
* Ack payloads are a handy way to return data back to senders without
* manually changing the radio modes on both units.
*
* @see examples/pingpair_pl/pingpair_pl.pde
*/
void enableAckPayload(void);
/**
* Enable dynamically-sized payloads
*
* This way you don't always have to send large packets just to send them
* once in a while. This enables dynamic payloads on ALL pipes.
*
* @see examples/pingpair_pl/pingpair_dyn.pde
*/
void enableDynamicPayloads(void);
/**
* Enable dynamic ACKs (single write multicasting) for chosen messages
*
* @note To enable full multicasting or per-pipe multicast, use setAutoAck()
*
* @warning This MUST be called prior to attempting single write NOACK calls
* @code
* radio.enableDynamicAck();
* radio.write(&data,32,1); // Sends a payload with no acknowledgement requested
* radio.write(&data,32,0); // Sends a payload using auto-retry/autoACK
* @endcode
*/
void enableDynamicAck(void);
/**
* Determine whether the hardware is an nRF24L01+ or not.
*
* @return true if the hardware is nRF24L01+ (or compatible) and false
* if its not.
*/
bool isPVariant(void);
/**
* Enable or disable auto-acknowlede packets
*
* This is enabled by default, so it's only needed if you want to turn
* it off for some reason.
*
* @param enable Whether to enable (true) or disable (false) auto-acks
*/
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 pipe Which pipeline to modify
* @param enable Whether to enable (true) or disable (false) auto-acks
*/
void setAutoAck(uint8_t pipe, bool enable);
/**
* 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 level Desired PA level.
*/
void setPALevel(uint8_t 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.
*/
uint8_t getPALevel(void);
/**
* Set the transmission data rate
*
* @warning setting RF24_250KBPS will fail for non-plus units
*
* @param speed RF24_250KBPS for 250kbs, RF24_1MBPS for 1Mbps, or RF24_2MBPS for 2Mbps
* @return true if the change was successful
*/
bool setDataRate(rf24_datarate_e speed);
/**
* Fetches the transmission data rate
*
* @return Returns the hardware's currently configured datarate. The value
* is one of 250kbs, RF24_1MBPS for 1Mbps, or RF24_2MBPS, as defined in the
* rf24_datarate_e enum.
*/
rf24_datarate_e getDataRate(void);
/**
* Set the CRC length
*
* @param length RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
*/
void setCRCLength(rf24_crclength_e length);
/**
* Get the CRC length
*
* @return RF24_DISABLED if disabled or RF24_CRC_8 for 8-bit or RF24_CRC_16 for 16-bit
*/
rf24_crclength_e getCRCLength(void);
/**
* Disable CRC validation
*
*/
void disableCRC(void);
/**@}*/
/**
* @name Deprecated
*
* Methods provided for backwards compabibility.
*/
/**@{*/
/**
* Open a pipe for writing
*
* Only one pipe can be open at once, but you can change the pipe
* you'll listen to. Do not call this while actively listening.
* Remember to stopListening() first.
*
* Addresses are 40-bit hex values, e.g.:
*
* @code
* openWritingPipe(0xF0F0F0F0F0);
* @endcode
*
* @param address The 40-bit address of the pipe to open. This can be
* any value whatsoever, as long as you are the only one writing to it
* and only one other radio is listening to it. Coordinate these pipe
* addresses amongst nodes on the network.
*/
void openWritingPipe(uint64_t address);
/**
* Open a pipe for reading
*
* Up to 6 pipes can be open for reading at once. Open all the
* reading pipes, and then call startListening().
*
* @see openWritingPipe
*
* @warning Pipes 1-5 should share the first 32 bits.
* Only the least significant byte should be unique, e.g.
* @code
* openReadingPipe(1,0xF0F0F0F0AA);
* openReadingPipe(2,0xF0F0F0F066);
* @endcode
*
* @warning Pipe 0 is also used by the writing pipe. So if you open
* pipe 0 for reading, and then startListening(), it will overwrite the
* writing pipe. Ergo, do an openWritingPipe() again before write().
*
* @todo Enforce the restriction that pipes 1-5 must share the top 32 bits
*
* @param number Which pipe# to open, 0-5.
* @param address The 40-bit address of the pipe to open.
*/
void openReadingPipe(uint8_t number, uint64_t address);
/**@}*/
/**
* @name Advanced Operation
*
* Methods you can use to drive the chip in more advanced ways
*/
/**@{*/
/**
* Print a giant block of debugging information to stdout
*
* @warning Does nothing if stdout is not defined. See fdevopen in stdio.h
*/
void printDetails(void);
/**
* Enter low-power mode
*
* To return to normal power mode, either write() some data or
* startListening, or powerUp().
*/
void powerDown(void);
/**
* Leave low-power mode - making radio more responsive
*
* To return to low power mode, call powerDown().
*/
void powerUp(void);
/**
* Write for single NOACK writes. Disables acknowledgements/autoretries for a single write.
*
* @note enableDynamicAck() must be called to enable this feature
*
* Can be used with enableAckPayload() to request a response
* @see enableDynamicAck()
* @see setAutoAck()
* @see write()
*
* @param buf Pointer to the data to be sent
* @param len Number of bytes to be sent
* @param multicast Request ACK (0), NOACK (1)
*/
bool write(const void *buf, uint8_t len, const bool multicast);
/**
* @note Optimization: New Command *
* This will not block until the 3 FIFO buffers are filled with data.
* Once the FIFOs are full, writeFast will simply wait for success or
* timeout, and return 1 or 0 respectively. From a user perspective, just
* keep trying to send the same data. The library will keep auto retrying
* the current payload using the built in functionality.
* @warning It is important to never keep the nRF24L01 in TX mode for more than 4ms at a time. If the auto
* retransmit is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO
* to clear by issuing txStandBy() or ensure appropriate time between transmissions.
*
* ONLY max retry interrupt flags will be cleared when writeFast is called
*
* @code
* Example (Partial blocking):
*
* radio.writeFast(&buf,32); // Writes 1 payload to the buffers
* txStandBy(); // Returns 0 if failed. 1 if success. Blocks only until MAX_RT timeout or success. Data flushed on fail.
*
* radio.writeFast(&buf,32); // Writes 1 payload to the buffers
* txStandBy(1000); // Using extended timeouts, returns 1 if success. Retries failed payloads for 1 seconds before returning 0.
* @endcode
*
* @see txStandBy()
* @see write()
* @see writeBlocking()
*
* @param buf Pointer to the data to be sent
* @param len Number of bytes to be sent
* @return True if the payload was delivered successfully false if not
*/
bool writeFast(const void *buf, uint8_t len);
/**
* WriteFast for single NOACK writes. Disables acknowledgements/autoretries for a single write.
*
* @note enableDynamicAck() must be called to enable this feature
* @see enableDynamicAck()
* @see setAutoAck()
*
* @param buf Pointer to the data to be sent
* @param len Number of bytes to be sent
* @param multicast Request ACK (0) or NOACK (1)
*/
bool writeFast(const void *buf, uint8_t len, const bool multicast);
/**
* @note Optimization: New Command
* This function extends the auto-retry mechanism to any specified duration.
* It will not block until the 3 FIFO buffers are filled with data.
* If so the library will auto retry until a new payload is written
* or the user specified timeout period is reached.
* @warning It is important to never keep the nRF24L01 in TX mode for more than 4ms at a time. If the auto
* retransmit is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO
* to clear by issuing txStandBy() or ensure appropriate time between transmissions.
*
* ONLY max retry interrupt flags will be cleared when writeBlocking is called
* @code
* Example (Full blocking):
*
* radio.writeBlocking(&buf,32,1000); //Wait up to 1 second to write 1 payload to the buffers
* txStandBy(1000); //Wait up to 1 second for the payload to send. Return 1 if ok, 0 if failed.
* //Blocks only until user timeout or success. Data flushed on fail.
* @endcode
* @note If used from within an interrupt, the interrupt should be disabled until completion, and sei(); called to enable millis().
* @see txStandBy()
* @see write()
* @see writeFast()
*
* @param buf Pointer to the data to be sent
* @param len Number of bytes to be sent
* @param timeout User defined timeout in milliseconds.
* @return True if the payload was loaded into the buffer successfully false if not
*/
bool writeBlocking(const void *buf, uint8_t len, uint32_t timeout);
/**
* @note Optimization: New Command
* This function should be called as soon as transmission is finished to
* drop the radio back to STANDBY-I mode. If not issued, the radio will
* remain in STANDBY-II mode which, per the data sheet, is not a recommended
* operating mode.
*
* @note When transmitting data in rapid succession, it is still recommended by
* the manufacturer to drop the radio out of TX or STANDBY-II mode if there is
* time enough between sends for the FIFOs to empty.
*
* Relies on built-in auto retry functionality.
*
* @code
* Example (Partial blocking):
*
* radio.writeFast(&buf,32);
* radio.writeFast(&buf,32);
* radio.writeFast(&buf,32); //Fills the FIFO buffers up
* bool ok = txStandBy(); //Returns 0 if failed. 1 if success.
* //Blocks only until MAX_RT timeout or success. Data flushed on fail.
* @endcode
* @see txStandBy(unsigned long timeout)
* @return True if transmission is successful
*
*/
bool txStandBy();
/**
* @note Optimization: New Command
*
* This function allows extended blocking and auto-retries per a user defined timeout
* @code
* Fully Blocking Example:
*
* radio.writeFast(&buf,32);
* radio.writeFast(&buf,32);
* radio.writeFast(&buf,32); //Fills the FIFO buffers up
* bool ok = txStandBy(1000); //Returns 0 if failed after 1 second of retries. 1 if success.
* //Blocks only until user defined timeout or success. Data flushed on fail.
* @endcode
* @note If used from within an interrupt, the interrupt should be disabled until completion, and sei(); called to enable millis().
* @param timeout Number of milliseconds to retry failed payloads
* @return True if transmission is successful
*
*/
bool txStandBy(uint32_t timeout);
/**
* Test whether there are bytes available to be read
*
* Use this version to discover on which pipe the message
* arrived.
*
* @param[out] pipe_num Which pipe has the payload available
* @return True if there is a payload available, false if none is
*/
bool available(uint8_t *pipe_num);
/**
* Non-blocking write to the open writing pipe used for buffered writes
*
* @note Optimization: This function now leaves the CE pin high, so the radio
* will remain in TX or STANDBY-II Mode until a txStandBy() command is issued.
* This allows the chip to be used to its full potential in TX mode.
* @warning It is important to never keep the nRF24L01 in TX mode for more than 4ms at a time. If the auto
* retransmit is enabled, the nRF24L01 is never in TX mode long enough to disobey this rule. Allow the FIFO
* to clear by issuing txStandBy() or ensure appropriate time between transmissions.
*
* @see write()
* @see writeFast()
* @see startWrite()
* @see writeBlocking()
*
* For single noAck writes see:
* @see enableDynamicAck()
* @see setAutoAck()
*
* @param buf Pointer to the data to be sent
* @param len Number of bytes to be sent
* @param multicast Request ACK (0) or NOACK (1)
* @return True if the payload was delivered successfully false if not
*/
void startFastWrite(const void *buf, uint8_t len, const bool multicast);
/**
* Non-blocking write to the open writing pipe
*
* Just like write(), but it returns immediately. To find out what happened
* to the send, catch the IRQ and then call whatHappened().
*
* @note Optimization: This function again behaves as it did previously for backwards-compatibility.
* with user code. The library uses startFastWrite() internally.
* This is mainly used for single-payload transactions.
*
* @see write()
* @see writeFast()
* @see startFastWrite()
* @see whatHappened()
*
* For single noAck writes see:
* @see enableDynamicAck()
* @see setAutoAck()
*
* @param buf Pointer to the data to be sent
* @param len Number of bytes to be sent
* @param multicast Request ACK (0) or NOACK (1)
*
*/
void startWrite(const void *buf, uint8_t len, const bool multicast);
/**
* Optimization: New Command
*
* This function is mainly used internally to take advantage of the auto payload
* re-use functionality of the chip, but can be beneficial to users as well.
*
* The function will instruct the radio to re-use the data in the FIFO buffers,
* and instructs the radio to re-send once the timeout limit has been reached.
* Used by writeFast and writeBlocking to initiate retries when a TX failure
* occurs. Retries are automatically initiated except with the standard write().
* This way, data is not flushed from the buffer until switching between modes.
*
* @note This is to be used AFTER auto-retry fails if wanting to resend
* using the built-in payload reuse features.
* After issuing reUseTX(), it will keep reending the same payload forever or until
* a payload is written to the FIFO, or a flush_tx command is given.
*/
void reUseTX();
/**
* Write an ack payload for the specified pipe
*
* The next time a message is received on @p pipe, the data in @p buf will
* be sent back in the acknowledgement.
*
* @warning According to the data sheet, only three of these can be pending
* at any time. I have not tested this.
*
* @param pipe Which pipe# (typically 1-5) will get this response.
* @param buf Pointer to data that is sent
* @param len Length of the data to send, up to 32 bytes max. Not affected
* by the static payload set by setPayloadSize().
*/
void writeAckPayload(uint8_t pipe, const void *buf, uint8_t len);
/**
* Determine if an ack payload was received in the most recent call to
* write().
*
* Call read() to retrieve the ack payload.
*
* @warning Calling this function clears the internal flag which indicates
* a payload is available. If it returns true, you must read the packet
* out as the very next interaction with the radio, or the results are
* undefined.
*
* @return True if an ack payload is available.
*/
bool isAckPayloadAvailable(void);
/**
* Call this when you get an interrupt to find out why
*
* Tells you what caused the interrupt, and clears the state of
* interrupts.
*
* @param[out] tx_ok The send was successful (TX_DS)
* @param[out] tx_fail The send failed, too many retries (MAX_RT)
* @param[out] rx_ready There is a message waiting to be read (RX_DS)
*/
void whatHappened(bool &tx_ok, bool &tx_fail, bool &rx_ready);
/**
* Test whether there was a carrier on the line for the
* previous listening period.
*
* Useful to check for interference on the current channel.
*
* @return true if was carrier, false if not
*/
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
*/
bool testRPD(void);
/**
* Test whether this is a real radio, or a mock shim for
* debugging. Setting either pin to 0xff is the way to
* indicate that this is not a real radio.
*
* @return true if this is a legitimate radio
*/
bool isValid() { return ce_pin != 0xff && csn_pin != 0xff; }
/**
* The radio will generate interrupt signals when a transmission is complete,
* a transmission fails, or a payload is received. This allows users to mask
* those interrupts to prevent them from generating a signal on the interrupt
* pin.
*
* @code
* Mask all interrupts except the receive interrupt:
*
* radio.maskIRQ(1,1,0);
* @endcode
*
* @param tx_ok Mask transmission complete interrupts
* @param tx_fail Mask transmit failure interrupts
* @param rx_ready Mask payload received interrupts
*/
void maskIRQ(bool tx_ok, bool tx_fail, bool rx_ready);
/**
* Set the address width from 3 to 5 bytes (24, 32 or 40 bit)
*
* @param a_width The address width to use: 3,4 or 5
*/
void setAddressWidth(uint8_t a_width);
/**@}*/
};
/**
* @example GettingStarted.pde
*
* This is an example which corresponds to my "Getting Started" blog post:
* <a style="text-align:center" href="http://maniacbug.wordpress.com/2011/11/02/getting-started-rf24/">Getting Started with nRF24L01+ on Arduino</a>.
*
* It is an example of how to use the RF24 class. Write this sketch to two
* different nodes. Put one of the nodes into 'transmit' mode by connecting
* with the serial monitor and sending a 'T'. The ping node sends the current
* time to the pong node, which responds by sending the value back. The ping
* node can then see how long the whole cycle took.
*/
/**
* @example nordic_fob.pde
*
* This is an example of how to use the RF24 class to receive signals from the
* Sparkfun Nordic FOB. See http://www.sparkfun.com/products/8602 .
* Thanks to Kirk Mower for providing test hardware.
*/
/**
* @example led_remote.pde
*
* This is an example of how to use the RF24 class to control a remote
* bank of LED's using buttons on a remote control.
*
* Every time the buttons change on the remote, the entire state of
* buttons is send to the led board, which displays the state.
*/
/**
* @example pingpair.pde
*
* This is an example of how to use the RF24 class. Write this sketch to two
* different nodes, connect the role_pin to ground on one. The ping node sends
* the current time to the pong node, which responds by sending the value back.
* The ping node can then see how long the whole cycle took.
*/
/**
* @example pingpair_maple.pde
*
* This is an example of how to use the RF24 class on the Maple. For a more
* detailed explanation, see my blog post:
* <a href="http://maniacbug.wordpress.com/2011/12/14/nrf24l01-running-on-maple-3/">nRF24L01+ Running on Maple</a>
*
* It will communicate well to an Arduino-based unit as well, so it's not for only Maple-to-Maple communication.
*
* Write this sketch to two different nodes,
* connect the role_pin to ground on one. The ping node sends the current time to the pong node,
* which responds by sending the value back. The ping node can then see how long the whole cycle
* took.
*/
/**
* @example starping.pde
*
* This sketch is a more complex example of using the RF24 library for Arduino.
* Deploy this on up to six nodes. Set one as the 'pong receiver' by tying the
* role_pin low, and the others will be 'ping transmit' units. The ping units
* unit will send out the value of millis() once a second. The pong unit will
* respond back with a copy of the value. Each ping unit can get that response
* back, and determine how long the whole cycle took.
*
* This example requires a bit more complexity to determine which unit is which.
* The pong receiver is identified by having its role_pin tied to ground.
* The ping senders are further differentiated by a byte in eeprom.
*/
/**
* @example pingpair_pl.pde
*
* This is an example of how to do two-way communication without changing
* transmit/receive modes. Here, a payload is set to the transmitter within
* the Ack packet of each transmission. Note that the payload is set BEFORE
* the sender's message arrives.
*/
/**
* @example pingpair_irq.pde
*
* This is an example of how to user interrupts to interact with the radio.
* It builds on the pingpair_pl example, and uses ack payloads.
*/
/**
* @example pingpair_sleepy.pde
*
* This is an example of how to use the RF24 class to create a battery-
* efficient system. It is just like the pingpair.pde example, but the
* ping node powers down the radio and sleeps the MCU after every
* ping/pong cycle.
*/
/**
* @example scanner.pde
*
* Example to detect interference on the various channels available.
* This is a good diagnostic tool to check whether you're picking a
* good channel for your application.
*
* Inspired by cpixip.
* See http://arduino.cc/forum/index.php/topic,54795.0.html
*/
/**
* @mainpage Driver for nRF24L01(+) 2.4GHz Wireless Transceiver
*
* @section Goals Design Goals
*
* This library is designed to be...
* @li Maximally compliant with the intended operation of the chip
* @li Easy for beginners to use
* @li Consumed with a public interface that's similiar to other Arduino standard libraries
*
* @section News News
*
* NOW COMPATIBLE WITH ARDUINO 1.0 - The 'master' branch and all examples work with both Arduino 1.0 and earlier versions.
* Please <a href="https://github.com/maniacbug/RF24/issues/new">open an issue</a> if you find any problems using it with any version of Arduino.
*
* NOW COMPATIBLE WITH MAPLE - RF24 has been tested with the
* <a href="http://leaflabs.com/store/#Maple-Native">Maple Native</a>,
* and should work with any Maple board. See the pingpair_maple example.
* Note that only the pingpair_maple example has been tested on Maple, although
* the others can certainly be adapted.
*
* @section Useful Useful References
*
* Please refer to:
*
* @li <a href="http://maniacbug.github.com/RF24/">Documentation Main Page</a>
* @li <a href="http://maniacbug.github.com/RF24/classRF24.html">RF24 Class Documentation</a>
* @li <a href="https://github.com/maniacbug/RF24/">Source Code</a>
* @li <a href="https://github.com/maniacbug/RF24/archives/master">Downloads Page</a>
* @li <a href="http://www.nordicsemi.com/files/Product/data_sheet/nRF24L01_Product_Specification_v2_0.pdf">Chip Datasheet</a>
*
* This chip uses the SPI bus, plus two chip control pins. Remember that pin 10 must still remain an output, or
* the SPI hardware will go into 'slave' mode.
*
* @section More More Information
*
* @subpage FAQ
*
* @section Projects Projects
*
* Stuff I have built with RF24
*
* <img src="http://farm7.staticflickr.com/6044/6307669179_a8d19298a6_m.jpg" width="240" height="160" alt="RF24 Getting Started - Finished Product">
*
* <a style="text-align:center" href="http://maniacbug.wordpress.com/2011/11/02/getting-started-rf24/">Getting Started with nRF24L01+ on Arduino</a>
*
* <img src="http://farm8.staticflickr.com/7159/6645514331_38eb2bdeaa_m.jpg" width="240" height="160" alt="Nordic FOB and nRF24L01+">
*
* <a style="text-align:center" href="http://maniacbug.wordpress.com/2012/01/08/nordic-fob/">Using the Sparkfun Nordic FOB</a>
*
* <img src="http://farm7.staticflickr.com/6097/6224308836_b9b3b421a3_m.jpg" width="240" height="160" alt="RF Duinode V3 (2V4)">
*
* <a href="http://maniacbug.wordpress.com/2011/10/19/sensor-node/">Low-Power Wireless Sensor Node</a>
*
* <img src="http://farm8.staticflickr.com/7012/6489477865_b56edb629b_m.jpg" width="240" height="161" alt="nRF24L01+ connected to Leaf Labs Maple Native">
*
* <a href="http://maniacbug.wordpress.com/2011/12/14/nrf24l01-running-on-maple-3/">nRF24L01+ Running on Maple</a>
*/
#endif // __RF24_H__
// vim:ai:cin:sts=2 sw=2 ft=cpp
RF24.cpp
/*
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.
03/17/2013 : Charles-Henri Hallard (http://hallard.me)
Modified to use with Arduipi board http://hallard.me/arduipi
Changed to use modified bcm2835 library
TMRh20 2014: Updated to work with optimized RF24 and RF24 Network Arduino libs.
*/
#include <RF24.h>
#include <nRF24L01.h>
#include <cstdio>
#include <cstring>
#include <sys/time.h>
/****************************************************************************/
uint8_t RF24::read_register(uint8_t reg, uint8_t *buf, uint8_t len)
{
uint8_t status;
uint8_t *prx = spi_rxbuff;
uint8_t *ptx = spi_txbuff;
uint8_t size = len + 1; // Add register value to transmit buffer
*ptx++ = (R_REGISTER | (REGISTER_MASK & reg));
while (len--)
{
*ptx++ = NOP; // Dummy operation, just for reading
}
bcm2835_spi_transfernb((char *)spi_txbuff, (char *)spi_rxbuff, size);
status = *prx++; // status is 1st byte of receive buffer
// decrement before to skip status byte
while (--size)
{
*buf++ = *prx++;
}
return status;
}
/****************************************************************************/
uint8_t RF24::read_register(uint8_t reg)
{
uint8_t result;
uint8_t *prx = spi_rxbuff;
uint8_t *ptx = spi_txbuff;
*ptx++ = (R_REGISTER | (REGISTER_MASK & reg));
*ptx++ = NOP; // Dummy operation, just for reading
bcm2835_spi_transfernb((char *)spi_txbuff, (char *)spi_rxbuff, 2);
result = *++prx; // result is 2nd byte of receive buffer
return result;
}
/****************************************************************************/
uint8_t RF24::write_register(uint8_t reg, uint8_t value)
{
uint8_t status;
uint8_t *prx = spi_rxbuff;
uint8_t *ptx = spi_txbuff;
*ptx++ = (W_REGISTER | (REGISTER_MASK & reg));
*ptx = value;
bcm2835_spi_transfernb((char *)spi_txbuff, (char *)spi_rxbuff, 2);
status = *prx++; // status is 1st byte of receive buffer
return status;
}
/****************************************************************************/
uint8_t RF24::write_register(uint8_t reg, const uint8_t *buf, uint8_t len)
{
uint8_t status;
uint8_t *prx = spi_rxbuff;
uint8_t *ptx = spi_txbuff;
uint8_t size = len + 1; // Add register value to transmit buffer
*ptx++ = (W_REGISTER | (REGISTER_MASK & reg));
while (len--)
*ptx++ = *buf++;
bcm2835_spi_transfernb((char *)spi_txbuff, (char *)spi_rxbuff, size);
status = *prx; // status is 1st byte of receive buffer
return status;
}
/****************************************************************************/
uint8_t RF24::write_payload(const void *buf, uint8_t len, const uint8_t writeType)
{
uint8_t status;
uint8_t *prx = spi_rxbuff;
uint8_t *ptx = spi_txbuff;
uint8_t size;
const uint8_t *current = reinterpret_cast<const uint8_t *>(buf);
uint8_t data_len = min(len, payload_size);
uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
size = data_len + blank_len + 1; // Add register value to transmit buffer
if (DEBUG)
printf("[Writing %u bytes %u blanks]", data_len, blank_len);
*ptx++ = W_TX_PAYLOAD;
while (data_len--)
*ptx++ = *current++;
while (blank_len--)
*ptx++ = 0;
bcm2835_spi_transfernb((char *)spi_txbuff, (char *)spi_rxbuff, size);
status = *prx; // status is 1st byte of receive buffer
return status;
}
/****************************************************************************/
uint8_t RF24::read_payload(void *buf, uint8_t len)
{
uint8_t status;
uint8_t *prx = spi_rxbuff;
uint8_t *ptx = spi_txbuff;
uint8_t size;
uint8_t *current = reinterpret_cast<uint8_t *>(buf);
uint8_t data_len = min(len, payload_size);
uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
size = data_len + blank_len + 1; // Add register value to transmit buffer
if (DEBUG)
printf("[Reading %u bytes %u blanks]", data_len, blank_len);
*ptx++ = R_RX_PAYLOAD;
while (size--)
*ptx++ = NOP;
// Size has been lost during while, re affect
size = data_len + blank_len + 1; // Add register value to transmit buffer
bcm2835_spi_transfernb((char *)spi_txbuff, (char *)spi_rxbuff, size);
// 1st byte is status
status = *prx++;
// Decrement before to skip 1st status byte
while (--size)
*current++ = *prx++;
return status;
}
/****************************************************************************/
uint8_t RF24::flush_rx(void)
{
uint8_t status;
status = bcm2835_spi_transfer(FLUSH_RX);
return status;
}
/****************************************************************************/
uint8_t RF24::flush_tx(void)
{
uint8_t status;
status = bcm2835_spi_transfer(FLUSH_TX);
return status;
}
/****************************************************************************/
uint8_t RF24::get_status(void)
{
return bcm2835_spi_transfer(NOP);
}
/****************************************************************************/
void RF24::print_status(uint8_t status)
{
printf("STATUS\t\t = 0x%02x RX_DR=%x TX_DS=%x MAX_RT=%x RX_P_NO=%x TX_FULL=%x\r\n",
status,
(status & _BV(RX_DR)) ? 1 : 0,
(status & _BV(TX_DS)) ? 1 : 0,
(status & _BV(MAX_RT)) ? 1 : 0,
((status >> RX_P_NO) & 0b111),
(status & _BV(TX_FULL)) ? 1 : 0);
}
/****************************************************************************/
void RF24::print_observe_tx(uint8_t value)
{
printf("OBSERVE_TX=%02x: POLS_CNT=%x ARC_CNT=%x\r\n",
value,
(value >> PLOS_CNT) & 0b1111,
(value >> ARC_CNT) & 0b1111);
}
/****************************************************************************/
void RF24::print_byte_register(const char *name, uint8_t reg, uint8_t qty)
{
char extra_tab = strlen(name) < 8 ? '\t' : 0;
printf("%s\t%c =", name, extra_tab);
while (qty--)
printf(" 0x%02x", read_register(reg++));
printf("\n");
}
/****************************************************************************/
void RF24::print_address_register(const char *name, uint8_t reg, uint8_t qty)
{
char extra_tab = strlen(name) < 8 ? '\t' : 0;
printf("%s\t%c =", name, extra_tab);
while (qty--)
{
uint8_t buffer[addr_width];
read_register(reg++, buffer, sizeof buffer);
printf(" 0x");
uint8_t *bufptr = buffer + sizeof buffer;
while (--bufptr >= buffer)
printf("%02x", *bufptr);
}
printf("\r\n");
}
/****************************************************************************/
RF24::RF24(
uint8_t _cepin,
uint8_t _cspin,
uint32_t _spi_speed,
uint8_t _channel,
uint32_t _cehighus) : ce_pin(_cepin),
csn_pin(_cspin), spi_speed(_spi_speed),
com_channel(_channel), cehighus(_cehighus),
p_variant(false),payload_size(32),
dynamic_payloads_enabled(false), addr_width(5) //,pipe0_reading_address(0)
{
}
/****************************************************************************/
void RF24::setChannel(uint8_t channel)
{
const uint8_t max_channel = 127;
write_register(RF_CH, min(channel, max_channel));
}
/****************************************************************************/
void RF24::setPayloadSize(uint8_t size)
{
const uint8_t max_payload_size = 32;
payload_size = min(size, max_payload_size);
}
/****************************************************************************/
uint8_t RF24::getPayloadSize(void)
{
return payload_size;
}
/****************************************************************************/
static const char rf24_datarate_e_str_0[] = "1MBPS";
static const char rf24_datarate_e_str_1[] = "2MBPS";
static const char rf24_datarate_e_str_2[] = "250KBPS";
static const char *const rf24_datarate_e_str_P[] = {
rf24_datarate_e_str_0,
rf24_datarate_e_str_1,
rf24_datarate_e_str_2,
};
static const char rf24_model_e_str_0[] = "nRF24L01";
static const char rf24_model_e_str_1[] = "nRF24L01+";
static const char *const rf24_model_e_str_P[] = {
rf24_model_e_str_0,
rf24_model_e_str_1,
};
static const char rf24_crclength_e_str_0[] = "Disabled";
static const char rf24_crclength_e_str_1[] = "8 bits";
static const char rf24_crclength_e_str_2[] = "16 bits";
static const char *const rf24_crclength_e_str_P[] = {
rf24_crclength_e_str_0,
rf24_crclength_e_str_1,
rf24_crclength_e_str_2,
};
static const char rf24_pa_dbm_e_str_0[] = "PA_MIN";
static const char rf24_pa_dbm_e_str_1[] = "PA_LOW";
static const char rf24_pa_dbm_e_str_2[] = "PA_HIGH";
static const char rf24_pa_dbm_e_str_3[] = "PA_MAX";
static const char *const rf24_pa_dbm_e_str_P[] = {
rf24_pa_dbm_e_str_0,
rf24_pa_dbm_e_str_1,
rf24_pa_dbm_e_str_2,
rf24_pa_dbm_e_str_3,
};
static const char rf24_csn_e_str_0[] = "CE0 (PI Hardware Driven)";
static const char rf24_csn_e_str_1[] = "CE1 (PI Hardware Driven)";
static const char rf24_csn_e_str_2[] = "CE2 (PI Hardware Driven)";
static const char rf24_csn_e_str_3[] = "Custom GPIO Software Driven";
static const char *const rf24_csn_e_str_P[] = {
rf24_csn_e_str_0,
rf24_csn_e_str_1,
rf24_csn_e_str_2,
rf24_csn_e_str_3,
};
// Display NRF24L01 details
void RF24::printDetails(void)
{
printf("================ SPI Configuration ================\n");
if (csn_pin < BCM2835_SPI_CS_NONE)
{
printf("CSN Pin \t = %s\n", rf24_csn_e_str_P[csn_pin]);
}
else
{
printf("CSN Pin \t = Custom GPIO%d%s\n", csn_pin,
csn_pin == RPI_V2_GPIO_P1_26 ? " (CE1) Software Driven" : "");
}
printf("CE Pin \t = Custom GPIO%d\n", ce_pin);
// SPI Bus Speed
printf("Clock Speed\t = ");
switch (spi_speed)
{
case BCM2835_SPI_SPEED_64MHZ:
printf("64 Mhz");
break;
case BCM2835_SPI_SPEED_32MHZ:
printf("32 Mhz");
break;
case BCM2835_SPI_SPEED_16MHZ:
printf("16 Mhz");
break;
case BCM2835_SPI_SPEED_8MHZ:
printf("8 Mhz");
break;
case BCM2835_SPI_SPEED_4MHZ:
printf("4 Mhz");
break;
case BCM2835_SPI_SPEED_2MHZ:
printf("2 Mhz");
break;
case BCM2835_SPI_SPEED_1MHZ:
printf("1 Mhz");
break;
case BCM2835_SPI_SPEED_512KHZ:
printf("512 KHz");
break;
case BCM2835_SPI_SPEED_256KHZ:
printf("256 KHz");
break;
case BCM2835_SPI_SPEED_128KHZ:
printf("128 KHz");
break;
case BCM2835_SPI_SPEED_64KHZ:
printf("64 KHz");
break;
case BCM2835_SPI_SPEED_32KHZ:
printf("32 KHz");
break;
case BCM2835_SPI_SPEED_16KHZ:
printf("16 KHz");
break;
case BCM2835_SPI_SPEED_8KHZ:
printf("8 KHz");
break;
default:
printf("Probably Bad !!!");
break;
}
printf("\n");
printf("================ NRF Configuration ================\n");
print_status(get_status());
print_address_register("RX_ADDR_P0-1", RX_ADDR_P0, 2);
print_byte_register("RX_ADDR_P2-5", RX_ADDR_P2, 4);
print_address_register("TX_ADDR", TX_ADDR);
print_byte_register("RX_PW_P0-6", RX_PW_P0, 6);
print_byte_register("EN_AA", EN_AA);
print_byte_register("EN_RXADDR", EN_RXADDR);
print_byte_register("RF_CH", RF_CH);
print_byte_register("RF_SETUP", RF_SETUP);
print_byte_register("CONFIG", CONFIG);
print_byte_register("DYNPD/FEATURE", DYNPD, 2);
printf("Data Rate\t = %s\r\n", rf24_datarate_e_str_P[getDataRate()]);
printf("Model\t\t = %s\r\n", rf24_model_e_str_P[isPVariant()]);
printf("CRC Length\t = %s\r\n", rf24_crclength_e_str_P[getCRCLength()]);
printf("PA Power\t = %s\r\n", rf24_pa_dbm_e_str_P[getPALevel()]);
}
/****************************************************************************/
bool RF24::begin(void)
{
// This initialize the SPI bus with
// csn pin as chip select (custom or not)
// Init BCM2835 chipset for talking with us
if (!bcm2835_init())
{
return false;
}
switch (csn_pin)
{ // Ensure valid hardware CS pin
case 0:
break;
case 1:
break;
case 8:
csn_pin = 0;
break;
case 7:
csn_pin = 1;
break;
default:
csn_pin = 0;
break;
}
bcm2835_spi_begin();
// used to drive custom I/O to trigger my logic analyser
// bcm2835_gpio_fsel(GPIO_CTRL_PIN , BCM2835_GPIO_FSEL_OUTP);
// start the SPI library:
// Note the NRF24 wants mode 0, MSB first and default to 1 Mbps
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
// Set SPI bus Speed
bcm2835_spi_setClockDivider(spi_speed);
// Choose hardware CSN pin
bcm2835_spi_chipSelect(csn_pin);
// Initialise the CE pin of NRF24 (chip enable) after the CSN pin, so that
// The input mode is not changed if using one of the hardware CE pins
bcm2835_gpio_fsel(ce_pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(ce_pin, LOW);
// wait 100ms
delay(100);
// 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.
// printf("write_register(%02X, %02X)\n", SETUP_RETR, (0b0100 << ARD) | (0b1111 << ARC));
setRetries(5, 15);
// 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;
}
// Then set the data rate to the slowest (and most reliable) speed supported by all
// hardware.
setDataRate(RF24_2MBPS);
// Initialize CRC and request 2-byte (16bit) CRC
setCRCLength(RF24_CRC_16);
toggle_features();
write_register(FEATURE, 0);
write_register(DYNPD, 0);
// Reset current status
// Notice reset and flush is the last thing we do
write_register(STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT));
// Set up default configuration. Callers can always change it later.
// This channel should be universally safe and not bleed over into adjacent
// spectrum.
setChannel(com_channel);
// Flush buffers
// flush_rx();
flush_tx();
powerUp();
// Enable PTX, do not write CE high so radio will remain in standby I mode ( 130us max to transition to RX or TX instead of 1500us from powerUp )
// PTX should use only 22uA of power
write_register(CONFIG, (read_register(CONFIG)) & ~_BV(PRIM_RX));
return true;
}
/****************************************************************************/
void RF24::startListening(void)
{
powerUp();
write_register(CONFIG, read_register(CONFIG) | _BV(PRIM_RX));
write_register(STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT));
// Restore the pipe0 adddress, if exists
if (pipe0_reading_address[0] > 0)
{
write_register(RX_ADDR_P0, pipe0_reading_address, addr_width);
}
// Flush buffers
// flush_rx();
flush_tx();
// Go!
bcm2835_gpio_write(ce_pin, HIGH);
// wait for the radio to come up (130us actually only needed)
bcm2835_delayMicroseconds(150);
}
/****************************************************************************/
void RF24::stopListening(void)
{
bcm2835_gpio_write(ce_pin, LOW);
flush_tx();
flush_rx();
delayMicroseconds(150);
write_register(CONFIG, (read_register(CONFIG)) & ~_BV(PRIM_RX));
delayMicroseconds(150);
}
/****************************************************************************/
void RF24::powerDown(void)
{
bcm2835_gpio_write(ce_pin, LOW);
write_register(CONFIG, read_register(CONFIG) & ~_BV(PWR_UP));
}
/****************************************************************************/
void RF24::powerUp(void)
{
bool up = read_register(CONFIG) & _BV(PWR_UP);
if (!up)
{
write_register(CONFIG, (read_register(CONFIG) | _BV(PWR_UP)));
delay(5);
}
}
/******************************************************************/
#if defined(FAILURE_HANDLING)
void RF24::errNotify()
{
if (DEBUG)
{
printf("HARDWARE FAIL\n\r");
}
failureDetect = true;
}
#endif
/******************************************************************/
bool RF24::write(const void *buf, uint8_t len, const bool multicast)
{
// Begin the write
startFastWrite(buf, len, multicast);
// Wait until complete or failed
#if defined(FAILURE_HANDLING)
uint32_t timer = bcm2835_millis();
#endif
// If this hangs, it ain't coming back, no sense in timing out
while (!(get_status() & (_BV(TX_DS) | _BV(MAX_RT))))
{
#if defined(FAILURE_HANDLING)
if (bcm2835_millis() - timer > 175)
{
errNotify();
return 0;
}
#endif
}
bcm2835_gpio_write(ce_pin, LOW);
uint8_t status = write_register(STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT));
// Max retries exceeded
if (status & _BV(MAX_RT))
{
flush_tx(); // Only going to be 1 packet int the FIFO at a time using this method, so just flush
return 0;
}
// TX OK 1 or 0
return 1;
}
bool RF24::write(const void *buf, uint8_t len)
{
return write(buf, len, 0);
}
/****************************************************************************/
// For general use, the interrupt flags are not important to clear
bool RF24::writeBlocking(const void *buf, uint8_t len, uint32_t timeout)
{
// Block until the FIFO is NOT full.
// Keep track of the MAX retries and set auto-retry if seeing failures
// This way the FIFO will fill up and allow blocking until packets go through
// The radio will auto-clear everything in the FIFO as long as CE remains high
uint32_t timer = bcm2835_millis(); // Get the time that the payload transmission started
while ((get_status() & (_BV(TX_FULL))))
{ // Blocking only if FIFO is full. This will loop and block until TX is successful or timeout
if (get_status() & _BV(MAX_RT))
{ // If MAX Retries have been reached
reUseTX(); // Set re-transmit and clear the MAX_RT interrupt flag
if (bcm2835_millis() - timer > timeout)
{
return 0;
} // If this payload has exceeded the user-defined timeout, exit and return 0
}
#if defined(FAILURE_HANDLING)
if (bcm2835_millis() - timer > (timeout + 75))
{
errNotify();
return 0;
}
#endif
}
// Start Writing
startFastWrite(buf, len, 0); // Write the payload if a buffer is clear
return 1; // Return 1 to indicate successful transmission
}
/****************************************************************************/
void RF24::reUseTX()
{
write_register(STATUS, _BV(MAX_RT)); // Clear max retry flag
// spiTrans( REUSE_TX_PL );
bcm2835_spi_transfer(REUSE_TX_PL);
bcm2835_gpio_write(ce_pin, LOW); // Re-Transfer packet
bcm2835_gpio_write(ce_pin, HIGH);
}
/****************************************************************************/
bool RF24::writeFast(const void *buf, uint8_t len, const bool multicast)
{
// Block until the FIFO is NOT full.
// Keep track of the MAX retries and set auto-retry if seeing failures
// Return 0 so the user can control the retrys and set a timer or failure counter if required
// The radio will auto-clear everything in the FIFO as long as CE remains high
#if defined(FAILURE_HANDLING)
uint32_t timer = bcm2835_millis();
#endif
while ((get_status() & (_BV(TX_FULL))))
{ // Blocking only if FIFO is full. This will loop and block until TX is successful or fail
if (get_status() & _BV(MAX_RT))
{
// reUseTX(); //Set re-transmit
write_register(STATUS, _BV(MAX_RT)); // Clear max retry flag
return 0; // Return 0. The previous payload has been retransmitted
// From the user perspective, if you get a 0, just keep trying to send the same payload
}
#if defined(FAILURE_HANDLING)
if (bcm2835_millis() - timer > 75)
{
errNotify();
return 0;
}
#endif
}
// Start Writing
startFastWrite(buf, len, multicast);
return 1;
}
bool RF24::writeFast(const void *buf, uint8_t len)
{
return writeFast(buf, len, 0);
}
/****************************************************************************/
// Per the documentation, we want to set PTX Mode when not listening. Then all we do is write data and set CE high
// In this mode, if we can keep the FIFO buffers loaded, packets will transmit immediately (no 130us delay)
// Otherwise we enter Standby-II mode, which is still faster than standby mode
// Also, we remove the need to keep writing the config register over and over and delaying for 150 us each time if sending a stream of data
void RF24::startFastWrite(const void *buf, uint8_t len, const bool multicast)
{ // TMRh20
// write_payload( buf,len);
write_payload(buf, len, multicast ? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD);
bcm2835_gpio_write(ce_pin, HIGH);
bcm2835_delayMicroseconds(cehighus);
}
/****************************************************************************/
void RF24::startWrite(const void *buf, uint8_t len, const bool multicast)
{
// Send the payload
write_payload(buf, len, multicast ? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD);
bcm2835_gpio_write(ce_pin, HIGH);
delayMicroseconds(10);
bcm2835_gpio_write(ce_pin, LOW);
}
/****************************************************************************/
bool RF24::txStandBy()
{
#if defined(FAILURE_HANDLING)
uint32_t timer = bcm2835_millis();
#endif
while (!(read_register(FIFO_STATUS) & _BV(TX_EMPTY)))
{
if (get_status() & _BV(MAX_RT))
{
write_register(STATUS, _BV(MAX_RT));
bcm2835_gpio_write(ce_pin, LOW);
flush_tx(); // Non blocking, flush the data
return 0;
}
#if defined(FAILURE_HANDLING)
if (bcm2835_millis() - timer > 75)
{
errNotify();
return 0;
}
#endif
}
bcm2835_gpio_write(ce_pin, LOW); // Set STANDBY-I mode
return 1;
}
unsigned int RF24::bcm2835_millis(void)
{
struct timeval now;
unsigned long long ms;
gettimeofday(&now, NULL);
ms = (now.tv_sec * 1000000 + now.tv_usec) / 1000;
return ((uint32_t)ms);
}
/****************************************************************************/
bool RF24::txStandBy(uint32_t timeout)
{
uint32_t start = bcm2835_millis();
while (!(read_register(FIFO_STATUS) & _BV(TX_EMPTY)))
{
if (get_status() & _BV(MAX_RT))
{
write_register(STATUS, _BV(MAX_RT));
bcm2835_gpio_write(ce_pin, LOW); // Set re-transmit
bcm2835_gpio_write(ce_pin, HIGH);
if (bcm2835_millis() - start >= timeout)
{
bcm2835_gpio_write(ce_pin, LOW);
flush_tx();
return 0;
}
}
#if defined(FAILURE_HANDLING)
if (bcm2835_millis() - start > (timeout + 75))
{
errNotify();
return 0;
}
#endif
}
bcm2835_gpio_write(ce_pin, LOW); // Set STANDBY-I mode
return 1;
}
/****************************************************************************/
void RF24::maskIRQ(bool tx, bool fail, bool rx)
{
write_register(CONFIG, (read_register(CONFIG)) | fail << MASK_MAX_RT | tx << MASK_TX_DS | rx << MASK_RX_DR);
}
/****************************************************************************/
uint8_t RF24::getDynamicPayloadSize(void)
{
spi_txbuff[0] = R_RX_PL_WID;
spi_rxbuff[1] = 0xff;
bcm2835_spi_transfernb((char *)spi_txbuff, (char *)spi_rxbuff, 2);
if (spi_rxbuff[1] > 32)
{
flush_rx();
return 0;
}
return spi_rxbuff[1];
}
/****************************************************************************/
bool RF24::available(void)
{
return available(NULL);
}
/****************************************************************************/
bool RF24::available(uint8_t *pipe_num)
{
// Check the FIFO buffer to see if data is waitng to be read
if (!(read_register(FIFO_STATUS) & _BV(RX_EMPTY)))
{
// If the caller wants the pipe number, include that
if (pipe_num)
{
uint8_t status = get_status();
*pipe_num = (status >> RX_P_NO) & 0b111;
}
return 1;
}
return 0;
}
/****************************************************************************/
void RF24::read(void *buf, uint8_t len)
{
// Fetch the payload
read_payload(buf, len);
// Clear the two possible interrupt flags with one command
write_register(STATUS, _BV(RX_DR) | _BV(MAX_RT) | _BV(TX_DS));
}
/****************************************************************************/
void RF24::whatHappened(bool &tx_ok, bool &tx_fail, bool &rx_ready)
{
// Read the status & reset the status in one easy call
// Or is that such a good idea?
uint8_t status = write_register(STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT));
// Report to the user what happened
tx_ok = status & _BV(TX_DS);
tx_fail = status & _BV(MAX_RT);
rx_ready = status & _BV(RX_DR);
}
/****************************************************************************/
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.
write_register(RX_ADDR_P0, reinterpret_cast<uint8_t *>(&value), addr_width);
write_register(TX_ADDR, reinterpret_cast<uint8_t *>(&value), addr_width);
write_register(RX_PW_P0, payload_size);
}
/****************************************************************************/
void RF24::openWritingPipe(const uint8_t *address)
{
// 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, address, addr_width);
write_register(TX_ADDR, address, addr_width);
// const uint8_t max_payload_size = 32;
// write_register(RX_PW_P0,min(payload_size,max_payload_size));
write_register(RX_PW_P0, payload_size);
}
/****************************************************************************/
static const uint8_t child_pipe[] =
{
RX_ADDR_P0, RX_ADDR_P1, RX_ADDR_P2, RX_ADDR_P3, RX_ADDR_P4, RX_ADDR_P5};
static const uint8_t child_payload_size[] =
{
RX_PW_P0, RX_PW_P1, RX_PW_P2, RX_PW_P3, RX_PW_P4, RX_PW_P5};
static const uint8_t child_pipe_enable[] =
{
ERX_P0, ERX_P1, ERX_P2, ERX_P3, ERX_P4, ERX_P5};
void RF24::openReadingPipe(uint8_t child, uint64_t address)
{
// If this is pipe 0, cache the address. This is needed because
// openWritingPipe() will overwrite the pipe 0 address, so
// startListening() will have to restore it.
if (child == 0)
{
memcpy(pipe0_reading_address, &address, addr_width);
}
if (child <= 6)
{
// For pipes 2-5, only write the LSB
if (child < 2)
write_register(pgm_read_byte(&child_pipe[child]), reinterpret_cast<const uint8_t *>(&address), addr_width);
else
write_register(pgm_read_byte(&child_pipe[child]), reinterpret_cast<const uint8_t *>(&address), 1);
write_register(pgm_read_byte(&child_payload_size[child]), payload_size);
// Note it would be more efficient to set all of the bits for all open
// pipes at once. However, I thought it would make the calling code
// more simple to do it this way.
write_register(EN_RXADDR, read_register(EN_RXADDR) | _BV(pgm_read_byte(&child_pipe_enable[child])));
}
}
/****************************************************************************/
void RF24::setAddressWidth(uint8_t a_width)
{
if (a_width -= 2)
{
write_register(SETUP_AW, a_width % 4);
addr_width = (a_width % 4) + 2;
}
}
/****************************************************************************/
void RF24::openReadingPipe(uint8_t child, const uint8_t *address)
{
// If this is pipe 0, cache the address. This is needed because
// openWritingPipe() will overwrite the pipe 0 address, so
// startListening() will have to restore it.
if (child == 0)
{
memcpy(pipe0_reading_address, address, addr_width);
}
if (child <= 6)
{
// For pipes 2-5, only write the LSB
if (child < 2)
{
write_register(pgm_read_byte(&child_pipe[child]), address, addr_width);
}
else
{
write_register(pgm_read_byte(&child_pipe[child]), address, 1);
}
write_register(pgm_read_byte(&child_payload_size[child]), payload_size);
// Note it would be more efficient to set all of the bits for all open
// pipes at once. However, I thought it would make the calling code
// more simple to do it this way.
write_register(EN_RXADDR, read_register(EN_RXADDR) | _BV(pgm_read_byte(&child_pipe_enable[child])));
}
}
/****************************************************************************/
void RF24::toggle_features(void)
{
bcm2835_spi_transfer(ACTIVATE);
bcm2835_spi_transfer(0x73);
}
/****************************************************************************/
void RF24::enableDynamicPayloads(void)
{
// So enable them and try again
toggle_features();
write_register(FEATURE, read_register(FEATURE) | _BV(EN_DPL));
if (DEBUG)
printf("FEATURE=%i\r\n", read_register(FEATURE));
// Enable dynamic payload on all pipes
//
// Not sure the use case of only having dynamic payload on certain
// pipes, so the library does not support it.
write_register(DYNPD, read_register(DYNPD) | _BV(DPL_P5) | _BV(DPL_P4) | _BV(DPL_P3) | _BV(DPL_P2) | _BV(DPL_P1) | _BV(DPL_P0));
dynamic_payloads_enabled = true;
}
/****************************************************************************/
void RF24::enableAckPayload(void)
{
//
// enable ack payload and dynamic payload features
//
// So enable them and try again
toggle_features();
write_register(FEATURE, read_register(FEATURE) | _BV(EN_ACK_PAY) | _BV(EN_DPL));
if (DEBUG)
printf("FEATURE=%i\r\n", read_register(FEATURE));
//
// Enable dynamic payload on pipes 0 & 1
//
dynamic_payloads_enabled = true;
write_register(DYNPD, read_register(DYNPD) | _BV(DPL_P1) | _BV(DPL_P0));
}
/****************************************************************************/
void RF24::enableDynamicAck(void)
{
//
// enable dynamic ack features
//
toggle_features();
write_register(FEATURE, read_register(FEATURE) | _BV(EN_DYN_ACK));
if (DEBUG)
{
printf("FEATURE=%i\r\n", read_register(FEATURE));
}
}
/****************************************************************************/
void RF24::writeAckPayload(uint8_t pipe, const void *buf, uint8_t len)
{
uint8_t *ptx = spi_txbuff;
uint8_t size;
const uint8_t *current = reinterpret_cast<const uint8_t *>(buf);
uint8_t data_len = min(len, payload_size);
size = data_len + 1; // Add register value to transmit buffer
if (DEBUG)
{
printf("[Writing %u bytes]", data_len);
}
*ptx++ = W_ACK_PAYLOAD | (pipe & 0b111);
while (data_len--)
{
*ptx++ = *current++;
}
bcm2835_spi_transfern((char *)spi_txbuff, size);
}
/****************************************************************************/
bool RF24::isAckPayloadAvailable(void)
{
return !read_register(FIFO_STATUS) & _BV(RX_EMPTY);
}
/****************************************************************************/
bool RF24::isPVariant(void)
{
return p_variant;
}
/****************************************************************************/
void RF24::setAutoAck(bool enable)
{
if (enable)
write_register(EN_AA, 0b111111);
else
write_register(EN_AA, 0);
}
/****************************************************************************/
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);
}
}
/****************************************************************************/
bool RF24::testCarrier(void)
{
return (read_register(CD) & 1);
}
/****************************************************************************/
bool RF24::testRPD(void)
{
return (read_register(RPD) & 1);
}
/****************************************************************************/
void RF24::setPALevel(uint8_t level)
{
uint8_t setup = read_register(RF_SETUP) & 0b11111000;
if (level > 3)
{ // If invalid level, go to max PA
level = (RF24_PA_MAX << 1) + 1; // +1 to support the SI24R1 chip extra bit
}
else
{
level = (level << 1) + 1; // Else set level as requested
}
write_register(RF_SETUP, setup |= level); // Write it to the chip
}
/****************************************************************************/
uint8_t RF24::getPALevel(void)
{
return (read_register(RF_SETUP) & (_BV(RF_PWR_LOW) | _BV(RF_PWR_HIGH))) >> 1;
}
/****************************************************************************/
bool RF24::setDataRate(rf24_datarate_e speed)
{
bool result = false;
uint8_t setup = read_register(RF_SETUP);
// HIGH and LOW '00' is 1Mbs - our default
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'.
setup |= _BV(RF_DR_LOW);
}
else
{
// Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
// Making it '01'
if (speed == RF24_2MBPS)
{
setup |= _BV(RF_DR_HIGH);
}
}
write_register(RF_SETUP, setup);
// Verify our result
if (read_register(RF_SETUP) == setup)
{
result = true;
}
return result;
}
/****************************************************************************/
rf24_datarate_e RF24::getDataRate(void)
{
rf24_datarate_e result;
uint8_t dr = read_register(RF_SETUP) & (_BV(RF_DR_LOW) | _BV(RF_DR_HIGH));
// switch uses RAM (evil!)
// Order matters in our case below
if (dr == _BV(RF_DR_LOW))
{
// '10' = 250KBPS
result = RF24_250KBPS;
}
else if (dr == _BV(RF_DR_HIGH))
{
// '01' = 2MBPS
result = RF24_2MBPS;
}
else
{
// '00' = 1MBPS
result = RF24_1MBPS;
}
return result;
}
/****************************************************************************/
void RF24::setCRCLength(rf24_crclength_e length)
{
uint8_t config = read_register(CONFIG) & ~(_BV(CRCO) | _BV(EN_CRC));
// switch uses RAM (evil!)
if (length == RF24_CRC_DISABLED)
{
// Do nothing, we turned it off above.
}
else if (length == RF24_CRC_8)
{
config |= _BV(EN_CRC);
}
else
{
config |= _BV(EN_CRC);
config |= _BV(CRCO);
}
write_register(CONFIG, config);
}
/****************************************************************************/
rf24_crclength_e RF24::getCRCLength(void)
{
rf24_crclength_e result = RF24_CRC_DISABLED;
uint8_t config = read_register(CONFIG) & (_BV(CRCO) | _BV(EN_CRC));
if (config & _BV(EN_CRC))
{
if (config & _BV(CRCO))
result = RF24_CRC_16;
else
result = RF24_CRC_8;
}
return result;
}
/****************************************************************************/
void RF24::disableCRC(void)
{
uint8_t disable = read_register(CONFIG) & ~_BV(EN_CRC);
write_register(CONFIG, disable);
}
/****************************************************************************/
void RF24::setRetries(uint8_t delay, uint8_t count)
{
write_register(SETUP_RETR, (delay & 0xf) << ARD | (count & 0xf) << ARC);
}
pingpair.cpp
#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <fcntl.h>
#include <unistd.h>
#include <assert.h>
#include <sys/time.h>
#include <string.h>
#include <cstdlib>
#include <inttypes.h>
#include <sstream>
#include <string>
#include <csignal>
#include <time.h>
#include <sys/types.h>
#include <errno.h>
#include <RF24.h>
using namespace std;
/**
* @brief Construct RF24
* @param CE pin
* @param CS pin
* @param SPI speed
* @param channel
* @param CE high delay in microseconds((tuning this in different scenarios or hardware and os))
*/
RF24 radio(RPI_V2_GPIO_P1_11, BCM2835_SPI_CS0, BCM2835_SPI_CLOCK_DIVIDER_16, 27,8000);
void SignalHandler(int sig)
{
switch (sig)
{
case SIGINT:
cout << "Interrupt signal (" << sig << ") received." << endl;
exit(sig);
break;
default:
break;
}
}
const int min_payload_size = 4;
const int max_payload_size = 32;
const int payload_size_increments_by = 1;
int next_payload_size = max_payload_size;
char receive_payload[max_payload_size + 1]; // +1 to allow room for a terminating NULL char
const bool role_ping_out = 1, role_pong_back = 0;
// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t pipes[2] = {0xE7E7E7E7E7LL, 0xE7E7E7E7E7LL};
static char send_payload[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZ012345";
// static char send_payload[] = "";
void loop(bool role)
{
uint64_t sid = 0;
// forever loop
while (1)
{
bcm2835_delay(10);
if (role == role_ping_out)
{
// The payload will always be the same, what will change is how much of it we send.
// sprintf(send_payload, "%" PRIu64 "", sid++);
// First, stop listening so we can talk.
radio.stopListening();
// Take the time, and send it. This will block until complete
bool ret = radio.write(send_payload, next_payload_size, 0);
// printf("Now sending value=%s, result=%d ",send_payload, ret);
// Now, continue listening
radio.startListening();
// Wait here until we get a response, or timeout
unsigned long started_waiting_at = radio.bcm2835_millis();
bool timeout = false;
while (!radio.available() && !timeout)
if (radio.bcm2835_millis() - started_waiting_at > 3000)
timeout = true;
// Describe the results
if (timeout)
{
printf("Failed, response timed out.\n\r");
}
else
{
// Grab the response, compare, and send to debugging spew
uint8_t len = radio.getDynamicPayloadSize();
radio.read(receive_payload, len);
// Put a zero at the end for easy printing
receive_payload[len] = 0;
// Spew it
printf("Got response size=%i value=%s\n\r", len, receive_payload);
}
// Update size for next time.
/*
next_payload_size += payload_size_increments_by;
if ( next_payload_size > max_payload_size )
next_payload_size = min_payload_size;
*/
// Try again 1s later
}
//
// Pong back role. Receive each packet, dump it out, and send it back
//
if (role == role_pong_back)
{
// if there is data ready
if (radio.available())
{
// Dump the payloads until we've gotten everything
uint8_t len;
while (radio.available())
{
// Fetch the payload, and see if this was the last one.
len = radio.getDynamicPayloadSize();
radio.read(receive_payload, len);
// Put a zero at the end for easy printing
receive_payload[len] = 0;
// Spew it
printf("Got payload size=%i value=%s\n\r", len, receive_payload);
}
// First, stop listening so we can talk
radio.stopListening();
// Send the final one back.
bool ret = radio.write(receive_payload, len, 0);
printf("Sent response value=%s, result: %d.\n\r", receive_payload, ret);
// Now, resume listening so we catch the next packets.
radio.startListening();
}
}
}
}
int main(int argc, char *argv[])
{
radio.begin();
radio.enableDynamicPayloads();
radio.setRetries(8, 15);
radio.printDetails();
/********* Role chooser ***********/
printf("\n ************ Role Setup ***********\n");
int input = atoi(argv[1]);
bool role = 0;
if (argc == 2)
{
if (input == 0)
{
cout << "Role: Pong Back, awaiting transmission " << endl
<< endl;
}
else
{
cout << "Role: Ping Out, starting transmission " << endl
<< endl;
role = role_ping_out;
}
}
/***********************************/
if (role == role_ping_out)
{
radio.openWritingPipe(pipes[0]);
radio.openReadingPipe(1, pipes[1]);
}
else
{
radio.openWritingPipe(pipes[1]);
radio.openReadingPipe(1, pipes[0]);
radio.startListening();
}
loop(role);
bcm2835_spi_end();
bcm2835_close();
return 0;
}
编译：
g++ -std=c++11 pingpair.cpp -o nrf24 /opt/bcm2835-1.71/lib/libbcm2835.a \
-I . -I /opt/bcm2835-1.71/include运行：
#receiver:
sudo ./nrf24 0
#transmitter:
sudo ./nrf24 1以上。
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